Code generation failed for examples that include mixed-integer variables (invpend_contact, satellite).

[sungjun66]

Hello
I’m trying to implement an MIQP control problem using LinearMPC on an embedded board.
However, when I attempt code generation for examples that include mixed-integer variables, I encounter an error.

using LinearMPC
mpc,range = LinearMPC.mpc_examples("satellite")
LinearMPC.codegen(mpc;dir="codegen_impc")

When I run this code, the following error occurs.

ERROR: LoadError: MethodError: no method matching iterate(::Nothing)
The function iterate exists, but no method is defined for this combination of argument types.

The examples that do not call the set_binary_controls! function successfully complete code generation.

[darnstrom]

Hi @sungjun66,
Thanks for reporting this! It was due to a default prediction horizon not being set when calling mpc_examples("satellite"). This should be fixed in #57 which should be included in the next release.
If you want to have it working for now, you could always do

mpc,range = LinearMPC.mpc_examples("satellite", 20)

where the second argument is the prediction horizon. Of course, you can change this from 20 to whatever you wish.

Let me know if you encounter any other weird behaviours, or if I could assist you in any other way.