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[Work in progress] Fix gz-sim on Windows #2392

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[Work in progress] Fix gz-sim on Windows #2392

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b97ccab
Permit to run gz sim -g on Windows
traversaro Apr 24, 2024
4bf5328
Work in progress support for gz-sim on Windows
traversaro Apr 30, 2024
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102 changes: 60 additions & 42 deletions src/cmd/cmdsim.rb.in
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Original file line number Diff line number Diff line change
Expand Up @@ -198,7 +198,15 @@ COMMANDS = { 'sim' =>
class Cmd

def killProcess(pid, name, timeout)
Process.kill("-INT", pid)
if RbConfig::CONFIG['host_os'] =~ /mswin|mingw|cygwin/
# On Windows, the Ruby signal machinery does not properly work,
# so let's just use system level commands, see
# https://blog.simplificator.com/2016/01/18/how-to-kill-processes-on-windows-using-ruby/
print("Calling Process.kill INT with pid #{pid}\n")
system("taskkill /pid #{pid}")
else
Process.kill("-INT", pid)
end

sleepSecs = 0.001
iterations = (timeout / sleepSecs).to_i
Expand All @@ -220,7 +228,11 @@ class Cmd

if killedPid != pid
puts "Escalating to SIGKILL on [#{name}]"
Process.kill("-KILL", pid)
if RbConfig::CONFIG['host_os'] =~ /mswin|mingw|cygwin/
system("taskkill /f /pid #{pid}")
else
Process.kill("-KILL", pid)
end
end
end

Expand Down Expand Up @@ -380,6 +392,8 @@ class Cmd
end # parse()

def execute(args)
# The parse method modifies args
original_args = args.clone()
options = parse(args)

library_name_path = Pathname.new(LIBRARY_NAME)
Expand Down Expand Up @@ -527,41 +541,51 @@ See https://github.com/gazebosim/gz-sim/issues/44 for more info."
exit(-1)
end

if plugin.end_with? ".dll"
puts "`ign gazebo` currently only works with the -s argument on Windows.
See https://github.com/gazebosim/gz-sim/issues/168 for more info."
exit(-1)
end

serverPid = Process.fork do
ENV['RMT_PORT'] = '1500'
Process.setpgid(0, 0)
Process.setproctitle('gz sim server')
Importer.runServer(parsed,
options['iterations'], options['run'], options['hz'],
options['initial_sim_time'], options['levels'],
options['network_role'], options['network_secondaries'],
options['record'], options['record-path'],
options['record-resources'], options['log-overwrite'],
options['log-compress'], options['playback'],
options['physics_engine'],
options['render_engine_server'],
options['render_engine_server_api_backend'],
options['render_engine_gui'],
options['render_engine_gui_api_backend'],
options['file'], options['record-topics'].join(':'),
options['wait_gui'],
options['headless-rendering'], options['record-period'],
options['seed'])
end
if not(plugin.end_with? ".dylib" or plugin.end_with? ".dll")
# Not on Windows or macOS, Process.fork works fine
serverPid = Process.fork do
ENV['RMT_PORT'] = '1500'
Process.setpgid(0, 0)
Process.setproctitle('gz sim server')
Importer.runServer(parsed,
options['iterations'], options['run'], options['hz'],
options['initial_sim_time'], options['levels'],
options['network_role'], options['network_secondaries'],
options['record'], options['record-path'],
options['record-resources'], options['log-overwrite'],
options['log-compress'], options['playback'],
options['physics_engine'],
options['render_engine_server'],
options['render_engine_server_api_backend'],
options['render_engine_gui'],
options['render_engine_gui_api_backend'],
options['file'], options['record-topics'].join(':'),
options['wait_gui'],
options['headless-rendering'], options['record-period'],
options['seed'])
end

guiPid = Process.fork do
ENV['RMT_PORT'] = '1501'
Process.setpgid(0, 0)
Process.setproctitle('gz sim gui')
Importer.runGui(options['gui_config'], options['file'],
options['wait_gui'], options['render_engine_gui'],
options['render_engine_gui_api_backend'])
guiPid = Process.fork do
ENV['RMT_PORT'] = '1501'
Process.setpgid(0, 0)
Process.setproctitle('gz sim gui')
Importer.runGui(options['gui_config'], options['file'],
options['wait_gui'], options['render_engine_gui'],
options['render_engine_gui_api_backend'])
end
else
server_args = original_args.clone()
# Add -s after sim to spawn a server
server_args.insert(1, "-s")
# Prepend gz script location
server_args.prepend($PROGRAM_NAME)
serverPid = Process.spawn("ruby", *server_args)
gui_args = original_args.clone()
# Add -g after sim to spawn a server
gui_args.insert(1, "-g")
# Add gz script location
gui_args.prepend($PROGRAM_NAME)
guiPid = Process.spawn("ruby", *gui_args)
end

Signal.trap("INT") {
Expand Down Expand Up @@ -598,12 +622,6 @@ See https://github.com/gazebosim/gz-sim/issues/168 for more info."
options['record-period'], options['seed'])
# Otherwise run the gui
else options['gui']
if plugin.end_with? ".dll"
puts "`gz sim` currently only works with the -s argument on Windows.
See https://github.com/gazebosim/gz-sim/issues/168 for more info."
exit(-1)
end

ENV['RMT_PORT'] = '1501'
Importer.runGui(options['gui_config'], options['file'],
options['wait_gui'], options['render_engine_gui'],
Expand Down
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