fix: macro path to refer install

autoware_system_designer/CMakeLists.txt

@@ -17,32 +17,28 @@ install(
   USE_SOURCE_PERMISSIONS
 )
 
-# Collect system descriptions
-# Scans the workspace source directory
-# and generates resource manifests in the build directory.
-add_custom_target(collect_system_design_manifests ALL
-  COMMAND ${CMAKE_COMMAND} -E remove_directory ${CMAKE_BINARY_DIR}/resource
-  COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_BINARY_DIR}/resource
-  COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/script/collect_system_design_manifests.py
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_BINARY_DIR}/resource
-    ${CMAKE_INSTALL_PREFIX}
-  COMMENT "Collecting autoware system descriptions"
-)
+# Collect system descriptions at install time.
+# ${CMAKE_CURRENT_SOURCE_DIR} and ${Python3_EXECUTABLE} are expanded at configure time;
+install(CODE "
+  set(_dest_prefix \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}\")
+  execute_process(
+    COMMAND \"${CMAKE_COMMAND}\" -E remove_directory
+      \"\${_dest_prefix}/share/${PROJECT_NAME}/resource\"
+  )
+  execute_process(
+    COMMAND \"${Python3_EXECUTABLE}\"
+      \"${CMAKE_CURRENT_SOURCE_DIR}/script/collect_system_design_manifests.py\"
+      \"${CMAKE_CURRENT_SOURCE_DIR}\"
+      \"\${_dest_prefix}/share/${PROJECT_NAME}/resource\"
+      \"\${CMAKE_INSTALL_PREFIX}\"
+    COMMAND_ERROR_IS_FATAL ANY
+  )
+")
 
 ament_package(
   CONFIG_EXTRAS "autoware_system_designer-extras.cmake"
 )
 
-# Copy the script to the build directory
-# Reconfigure when scripts change so build/*/script stays up-to-date.
-file(GLOB_RECURSE SCRIPT_FILES CONFIGURE_DEPENDS ${CMAKE_SOURCE_DIR}/script/*.py)
-
-foreach(SCRIPT_FILE ${SCRIPT_FILES})
-  get_filename_component(SCRIPT_FILE_NAME ${SCRIPT_FILE} NAME)
-  configure_file(${SCRIPT_FILE} ${CMAKE_BINARY_DIR}/script/${SCRIPT_FILE_NAME} COPYONLY)
-endforeach()
-
 install(
   DIRECTORY cmake
   DESTINATION share/${PROJECT_NAME}

autoware_system_designer/autoware_system_designer/template/parameter_set.yaml.jinja2

@@ -6,7 +6,7 @@ parameters:
 {% for node in parameters %}
   - node: {{ node.node }}
 {% if node.parameter_files %}
-    parame_files:
+    param_files:
 {% for param_name, param_path in node.parameter_files.items() %}
       - {{ param_name }}: {{ param_path }}
 {% endfor %}

autoware_system_designer/cmake/autoware_system_designer_build_deploy.cmake

@@ -58,10 +58,39 @@ macro(autoware_system_designer_build_deploy project_name)
     endforeach()
   endif()
 
-  set(BUILD_PY_SCRIPT "${CMAKE_BINARY_DIR}/../autoware_system_designer/script/deployment_process.py")
-  set(SYSTEM_DESIGNER_RUNNER_SCRIPT "${CMAKE_BINARY_DIR}/../autoware_system_designer/script/system_designer_runner.py")
-  set(SYSTEM_DESIGNER_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../autoware_system_designer")
-  set(SYSTEM_DESIGNER_RESOURCE_DIR "${CMAKE_BINARY_DIR}/../autoware_system_designer/resource")
+  # Always call find_package so Python3_VERSION_MAJOR/MINOR are guaranteed set,
+  # even when the caller already found Python3 before invoking this macro.
+  find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
+  # autoware_system_designer_DIR = <prefix>/share/autoware_system_designer/cmake
+  get_filename_component(_AWSD_SCRIPT_DIR "${autoware_system_designer_DIR}/../script" ABSOLUTE)
+  set(BUILD_PY_SCRIPT "${_AWSD_SCRIPT_DIR}/deployment_process.py")
+  set(SYSTEM_DESIGNER_RUNNER_SCRIPT "${_AWSD_SCRIPT_DIR}/system_designer_runner.py")
+
+  # Derive the installed Python package dir from the interpreter version.
+  # Glob + lexicographic sort mis-orders versions (e.g. python3.10 sorts before python3.9),
+  # so we use Python3_VERSION_MAJOR/MINOR to construct the exact path instead.
+  get_filename_component(_AWSD_INSTALL_PREFIX "${autoware_system_designer_DIR}/../../.." ABSOLUTE)
+  set(_AWSD_PYVER "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}")
+  set(_AWSD_PYTHON_PATH "")
+  foreach(_AWSD_SUBDIR
+      "local/lib/python${_AWSD_PYVER}/dist-packages"
+      "local/lib/python${_AWSD_PYVER}/site-packages"
+      "lib/python${_AWSD_PYVER}/dist-packages"
+      "lib/python${_AWSD_PYVER}/site-packages"
+  )
+    if(EXISTS "${_AWSD_INSTALL_PREFIX}/${_AWSD_SUBDIR}")
+      set(_AWSD_PYTHON_PATH "${_AWSD_INSTALL_PREFIX}/${_AWSD_SUBDIR}")
+      break()
+    endif()
+  endforeach()
+  set(_AWSD_PYTHONPATH_ARGS "")
+  if(_AWSD_PYTHON_PATH)
+    set(_AWSD_PYTHONPATH_ARGS "PYTHONPATH=${_AWSD_PYTHON_PATH}")
+  endif()
+
+  get_filename_component(SYSTEM_DESIGNER_RESOURCE_DIR "${autoware_system_designer_DIR}/../resource" ABSOLUTE)
+
   set(OUTPUT_ROOT_DIR "${CMAKE_INSTALL_PREFIX}/share/${CMAKE_PROJECT_NAME}/")
   get_filename_component(WORKSPACE_ROOT "${CMAKE_BINARY_DIR}/../.." ABSOLUTE)
   set(LOG_DIR "${WORKSPACE_ROOT}/log/latest_build/${CMAKE_PROJECT_NAME}")
@@ -95,9 +124,9 @@ macro(autoware_system_designer_build_deploy project_name)
   add_custom_target(run_build_py_${_INPUT_NAME} ALL
     COMMAND ${CMAKE_COMMAND} -E make_directory ${LOG_DIR}
     COMMAND ${CMAKE_COMMAND} -E env
-      PYTHONPATH=${SYSTEM_DESIGNER_SOURCE_DIR}:$ENV{PYTHONPATH}
+      ${_AWSD_PYTHONPATH_ARGS}
       AUTOWARE_SYSTEM_DESIGNER_BUILD_DEPLOY_STRICT=${AUTOWARE_SYSTEM_DESIGNER_BUILD_DEPLOY_STRICT}
-      python3 ${SYSTEM_DESIGNER_RUNNER_SCRIPT}
+      ${Python3_EXECUTABLE} ${SYSTEM_DESIGNER_RUNNER_SCRIPT}
         deploy
         --log-file ${LOG_FILE}
         --print-level ${_PRINT_LEVEL}

autoware_system_designer/cmake/autoware_system_designer_generate_launcher.cmake

@@ -17,9 +17,14 @@ macro(autoware_system_designer_generate_launcher)
   set(DESIGN_DIR "${CMAKE_CURRENT_SOURCE_DIR}/design")
 
   if(EXISTS ${DESIGN_DIR})
-    # Set up paths - use absolute path to the script
-    set(GENERATE_LAUNCHER_PY_SCRIPT "${CMAKE_BINARY_DIR}/../autoware_system_designer/script/generate_node_launcher.py")
-    set(SYSTEM_DESIGNER_RUNNER_SCRIPT "${CMAKE_BINARY_DIR}/../autoware_system_designer/script/system_designer_runner.py")
+    if(NOT Python3_EXECUTABLE)
+      find_package(Python3 REQUIRED COMPONENTS Interpreter)
+    endif()
+
+    # Set up paths - use installed script paths from the found package
+    get_filename_component(_AWSD_SCRIPT_DIR "${autoware_system_designer_DIR}/../script" ABSOLUTE)
+    set(GENERATE_LAUNCHER_PY_SCRIPT "${_AWSD_SCRIPT_DIR}/generate_node_launcher.py")
+    set(SYSTEM_DESIGNER_RUNNER_SCRIPT "${_AWSD_SCRIPT_DIR}/system_designer_runner.py")
     set(LAUNCHER_FILE_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/launcher/")
 
     # Set up logging
@@ -47,7 +52,7 @@ macro(autoware_system_designer_generate_launcher)
           OUTPUT ${LAUNCHER_FILE}
           COMMAND ${CMAKE_COMMAND} -E make_directory ${LAUNCHER_FILE_DIR}
           COMMAND ${CMAKE_COMMAND} -E make_directory ${LOG_DIR}
-          COMMAND python3 ${SYSTEM_DESIGNER_RUNNER_SCRIPT} run --log-file ${LOG_FILE} --append -- python3 ${GENERATE_LAUNCHER_PY_SCRIPT} ${NODE_YAML_FILE} ${LAUNCHER_FILE_DIR}
+          COMMAND ${Python3_EXECUTABLE} ${SYSTEM_DESIGNER_RUNNER_SCRIPT} run --log-file ${LOG_FILE} --append -- ${Python3_EXECUTABLE} ${GENERATE_LAUNCHER_PY_SCRIPT} ${NODE_YAML_FILE} ${LAUNCHER_FILE_DIR}
           DEPENDS ${NODE_YAML_FILE} ${GENERATE_LAUNCHER_PY_SCRIPT} ${SYSTEM_DESIGNER_RUNNER_SCRIPT}
           COMMENT "Generating launcher file ${NODE_NAME}.launch.xml. Terminal shows warnings/errors; full log: ${LOG_FILE}"
           VERBATIM

autoware_system_designer/cmake/autoware_system_designer_parameter.cmake

@@ -17,9 +17,14 @@ macro(autoware_system_designer_parameter)
   set(SCHEMA_DIR "${CMAKE_CURRENT_SOURCE_DIR}/schema")
 
   if(EXISTS ${SCHEMA_DIR})
-    # Set up paths - use absolute path to the script
-    set(PARAMETER_PROCESS_SCRIPT "${CMAKE_BINARY_DIR}/../autoware_system_designer/script/parameter_process.py")
-    set(SYSTEM_DESIGNER_RUNNER_SCRIPT "${CMAKE_BINARY_DIR}/../autoware_system_designer/script/system_designer_runner.py")
+    if(NOT Python3_EXECUTABLE)
+      find_package(Python3 REQUIRED COMPONENTS Interpreter)
+    endif()
+
+    # Set up paths - use installed script paths from the found package
+    get_filename_component(_AWSD_SCRIPT_DIR "${autoware_system_designer_DIR}/../script" ABSOLUTE)
+    set(PARAMETER_PROCESS_SCRIPT "${_AWSD_SCRIPT_DIR}/parameter_process.py")
+    set(SYSTEM_DESIGNER_RUNNER_SCRIPT "${_AWSD_SCRIPT_DIR}/system_designer_runner.py")
     set(CONFIG_OUTPUT_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/config")
 
     # Set up logging
@@ -45,7 +50,7 @@ macro(autoware_system_designer_parameter)
         OUTPUT ${CONFIG_FILES}
         COMMAND ${CMAKE_COMMAND} -E make_directory ${CONFIG_OUTPUT_DIR}
         COMMAND ${CMAKE_COMMAND} -E make_directory ${LOG_DIR}
-        COMMAND python3 ${SYSTEM_DESIGNER_RUNNER_SCRIPT} run --log-file ${LOG_FILE} -- python3 ${PARAMETER_PROCESS_SCRIPT} ${SCHEMA_DIR} ${CONFIG_OUTPUT_DIR} --package-name ${PROJECT_NAME}
+        COMMAND ${Python3_EXECUTABLE} ${SYSTEM_DESIGNER_RUNNER_SCRIPT} run --log-file ${LOG_FILE} -- ${Python3_EXECUTABLE} ${PARAMETER_PROCESS_SCRIPT} ${SCHEMA_DIR} ${CONFIG_OUTPUT_DIR} --package-name ${PROJECT_NAME}
         DEPENDS ${SCHEMA_FILES} ${PARAMETER_PROCESS_SCRIPT} ${SYSTEM_DESIGNER_RUNNER_SCRIPT}
         COMMENT "Generating parameter files for ${PROJECT_NAME} from schema files. Terminal shows warnings/errors; full log: ${LOG_FILE}"
         VERBATIM

tools/vscode-autoware-system-designer/server/base_server.py

@@ -50,7 +50,9 @@ def __init__(self):
         self.completion_provider = CompletionProvider(self.registry_manager, self.validation_engine.resolution_service)
         self.definition_provider = DefinitionProvider(self.registry_manager)
         self.hover_provider = HoverProvider(self.registry_manager, self.validation_engine.resolution_service)
-        self.signature_help_provider = SignatureHelpProvider(self.registry_manager, self.validation_engine.resolution_service)
+        self.signature_help_provider = SignatureHelpProvider(
+            self.registry_manager, self.validation_engine.resolution_service
+        )
 
         # Register handlers
         self._register_handlers()

tools/vscode-autoware-system-designer/server/providers/definition_provider.py

@@ -31,9 +31,9 @@ def get_definition(self, params: lsp.DefinitionParams, server) -> Optional[lsp.L
             config = self.registry_manager.entity_registry[word]
             # Use source_map to find the exact line of the 'name' field
             line_num = 0
-            if hasattr(config, 'source_map') and config.source_map and 'name' in config.source_map:
+            if hasattr(config, "source_map") and config.source_map and "name" in config.source_map:
                 # source_map['name'] is (line, column) tuple; YAML lines are 0-indexed
-                line_num = config.source_map['name'][0]
+                line_num = config.source_map["name"][0]
             return lsp.Location(
                 uri=path_to_uri(str(config.file_path)),
                 range=lsp.Range(
@@ -75,8 +75,12 @@ def _find_definition_in_connection(self, word: str, config: Config) -> Optional[
                                 entity_config = self.registry_manager.entity_registry[entity_name]
                                 # Use source_map for precise line of 'name' field
                                 line_num = 0
-                                if hasattr(entity_config, 'source_map') and entity_config.source_map and 'name' in entity_config.source_map:
-                                    line_num = entity_config.source_map['name'][0]
+                                if (
+                                    hasattr(entity_config, "source_map")
+                                    and entity_config.source_map
+                                    and "name" in entity_config.source_map
+                                ):
+                                    line_num = entity_config.source_map["name"][0]
                                 return lsp.Location(
                                     uri=path_to_uri(str(entity_config.file_path)),
                                     range=lsp.Range(
@@ -99,8 +103,12 @@ def _find_definition_in_connection(self, word: str, config: Config) -> Optional[
                                 entity_config = self.registry_manager.entity_registry[component_entity]
                                 # Use source_map for precise line of 'name' field
                                 line_num = 0
-                                if hasattr(entity_config, 'source_map') and entity_config.source_map and 'name' in entity_config.source_map:
-                                    line_num = entity_config.source_map['name'][0]
+                                if (
+                                    hasattr(entity_config, "source_map")
+                                    and entity_config.source_map
+                                    and "name" in entity_config.source_map
+                                ):
+                                    line_num = entity_config.source_map["name"][0]
                                 return lsp.Location(
                                     uri=path_to_uri(str(entity_config.file_path)),
                                     range=lsp.Range(