feat: support WSL2 D3D12 GzSim sessions

robotics_application_manager/libs/process_utils.py

@@ -130,6 +130,16 @@ def wait_for_process_to_start(process_name, timeout=60):
 
 def check_gpu_acceleration():
     try:
+        if os.path.exists("/dev/dxg"):
+            result = subprocess.run(
+                ["nvidia-smi"],
+                stdout=subprocess.DEVNULL,
+                stderr=subprocess.DEVNULL,
+                timeout=5,
+                check=False,
+            )
+            return "NVIDIA" if result.returncode == 0 else "OFF"
+
         # Verifica si /dev/dri existe
         if not os.path.exists("/dev/dri"):
             LogManager.logger.error("/dev/dri does not exist. No direct GPU access.")

robotics_application_manager/manager/launcher/launcher_gzsim.py

@@ -41,7 +41,16 @@ def run(self, config_file, callback):
         # Configure browser screen width and height for gz GUI
         gzclient_config_cmds = f"sed -i 's/<width>.*<\/width>/<width>{self.width}<\/width>/; s/<height>.*<\/height>/<height>{self.height}<\/height>/' {config_file};"
 
-        if ACCELERATION_ENABLED:
+        if os.path.exists("/dev/dxg"):
+            self.gz_vnc.start_vnc_wsl(
+                self.display, self.internal_port, self.external_port
+            )
+            gzclient_cmd = (
+                f"export DISPLAY={self.display}; {gzclient_config_cmds} "
+                f"export GALLIUM_DRIVER=d3d12; "
+                f"gz sim -g -v4 --gui-config {config_file}"
+            )
+        elif ACCELERATION_ENABLED:
             # Starts xserver, x11vnc and novnc
             self.gz_vnc.start_vnc_gpu(
                 self.display, self.internal_port, self.external_port, DRI_PATH

robotics_application_manager/manager/manager.py

@@ -851,6 +851,7 @@ def on_run_application(self, event):
             command = ["python3", entrypoint]
             executable = None
             shell = False
+            environment = None
 
             if entrypoint.endswith(".launch.py"):
                 command = [
@@ -864,6 +865,23 @@ def on_run_application(self, event):
                 ]
                 executable = "/bin/bash"
                 shell = True
+            elif entrypoint.endswith(".py") and os.path.exists("/dev/dxg"):
+                command = [
+                    "bash",
+                    "-c",
+                    'source /opt/ros/humble/setup.bash && exec python3 "$1"',
+                    "bash",
+                    entrypoint,
+                ]
+                environment = os.environ.copy()
+                environment["PYTHONPATH"] = os.pathsep.join(
+                    [
+                        "/workspace/code/hal_interfaces",
+                        "/workspace/code/gui_interfaces",
+                        "/workspace/code/console_interfaces",
+                        environment.get("PYTHONPATH", ""),
+                    ]
+                )
 
             proc = subprocess.Popen(
                 command,
@@ -875,6 +893,7 @@ def on_run_application(self, event):
                 shell=shell,
                 executable=executable,
                 start_new_session=True,
+                env=environment,
             )
 
             proc.send_signal(signal.SIGSTOP)

robotics_application_manager/manager/vnc/vnc_server.py

@@ -4,13 +4,15 @@
 including GPU-accelerated sessions and desktop icon creation.
 """
 
-import time
-import socket
-from robotics_application_manager.manager.docker_thread import DockerThread
-import subprocess
-from typing import List, Any
 import os
+import signal
+import subprocess
+import socket
+import time
+from typing import Any, List
+
 from robotics_application_manager.libs import wait_for_xserver
+from robotics_application_manager.manager.docker_thread import DockerThread
 
 
 class Vnc_server:
@@ -115,6 +117,82 @@ def start_vnc_gpu(self, display, internal_port, external_port, dri_path):
         self.wait_for_port("localhost", internal_port)
         self.wait_for_port("localhost", external_port)
 
+    def start_vnc_wsl(self, display, internal_port, external_port):
+        """Start the WSL2 Xvfb, x11vnc, and noVNC backend."""
+        self.wsl_processes = []
+
+        try:
+            self._start_wsl_process(["Xvfb", display, "-screen", "0", "1920x1080x24"])
+            wait_for_xserver(display)
+
+            self._start_wsl_process(
+                [
+                    "x11vnc",
+                    "-display",
+                    display,
+                    "-rfbport",
+                    str(internal_port),
+                    "-nopw",
+                    "-forever",
+                    "-noxdamage",
+                    "-shared",
+                ]
+            )
+
+            novnc_cmd = [
+                "/noVNC/utils/novnc_proxy",
+                "--listen",
+                str(external_port),
+                "--vnc",
+                f"localhost:{internal_port}",
+                "--web",
+                "/noVNC",
+            ]
+            if os.path.isfile("/etc/certs/cert.pem"):
+                novnc_cmd += [
+                    "--cert",
+                    "/etc/certs/cert.pem",
+                    "--key",
+                    "/etc/certs/privkey.pem",
+                ]
+
+            self._start_wsl_process(novnc_cmd)
+            self.wait_for_port("localhost", internal_port)
+            self.wait_for_port("localhost", external_port)
+            self.running = True
+        except Exception:
+            self.terminate_wsl_processes()
+            raise
+
+    def _start_wsl_process(self, command):
+        """Start and track one WSL VNC process."""
+        self.wsl_processes.append(
+            subprocess.Popen(
+                command,
+                start_new_session=True,
+                stdout=subprocess.DEVNULL,
+                stderr=subprocess.DEVNULL,
+            )
+        )
+
+    def terminate_wsl_processes(self):
+        """Terminate only the processes started by the WSL2 VNC backend."""
+        for process in reversed(getattr(self, "wsl_processes", [])):
+            if process.poll() is None:
+                try:
+                    process_group = os.getpgid(process.pid)
+                    os.killpg(process_group, signal.SIGTERM)
+                    process.wait(timeout=10)
+                except ProcessLookupError:
+                    continue
+                except subprocess.TimeoutExpired:
+                    try:
+                        os.killpg(process_group, signal.SIGKILL)
+                    except ProcessLookupError:
+                        continue
+                    process.wait()
+        self.wsl_processes = []
+
     def wait_for_port(self, host, port, timeout=120):
         """Wait for a TCP port on a host to become available within a timeout period.
 
@@ -153,6 +231,7 @@ def is_running(self):
 
     def terminate(self):
         """Terminate all running threads and stop the VNC server."""
+        self.terminate_wsl_processes()
         for thread in self.threads:
             if thread.is_alive():
                 thread.terminate()