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Feature/windows fixes #581

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5f57f6f
Not all scripts are supported with a .bat file. Check if the .bat fil…
colin-benchmark Jul 21, 2025
087a706
On Windows these functions are getting stuck and causing the applicat…
colin-benchmark Jul 21, 2025
58aa6d2
Failed build tests due to -Werror=unused-function flag. Removing this…
colin-benchmark Jul 21, 2025
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11 changes: 11 additions & 0 deletions lcm-logger/glib_util.c
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Approving as these changes all look reasonable and don't appear to break anything for me, but they don't appear to fix this issue:

The other issue I've found was lcm-logger.exe quits after creating the log file. This seems to be down to different ways of handling signals between windows and linux. I've made some minor windows-specific tweaks which allows lcm-logger.exe to run without issue on Windows.

Both lcm-logger and lcm-logplayer appear to be no-ops. No matter what commands I run, they immediately return with no output.

Original file line number Diff line number Diff line change
Expand Up @@ -132,21 +132,28 @@ int signal_pipe_attach_glib(signal_pipe_glib_handler_t func, gpointer user_data)
return 0;
}

#ifndef _WIN32
static void spgqok_handler(int signum, void *user)
{
g_main_loop_quit(_mainloop);
signal_pipe_cleanup();
}
#endif

int signal_pipe_glib_quit_on_kill()
{
#ifdef _WIN32
// Windows does not support Unix-style signal handling reliably.
return 0;
#else
if (0 != signal_pipe_init())
return -1;

signal_pipe_add_signal(SIGINT);
signal_pipe_add_signal(SIGTERM);
signal_pipe_add_signal(SIGKILL);
return signal_pipe_attach_glib(spgqok_handler, _mainloop);
#endif
}

static int lcm_message_ready(GIOChannel *source, GIOCondition cond, lcm_t *lcm)
Expand Down Expand Up @@ -182,7 +189,11 @@ int glib_mainloop_attach_lcm(lcm_t *lcm)

glib_attached_lcm_t *galcm = (glib_attached_lcm_t *) calloc(1, sizeof(glib_attached_lcm_t));

#ifdef _WIN32
galcm->ioc = g_io_channel_win32_new_socket(lcm_get_fileno(lcm));
#else
galcm->ioc = g_io_channel_unix_new(lcm_get_fileno(lcm));
#endif
galcm->sid = g_io_add_watch(galcm->ioc, G_IO_IN, (GIOFunc) lcm_message_ready, lcm);
galcm->lcm = lcm;

Expand Down
15 changes: 13 additions & 2 deletions lcm-python/lcm/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -177,9 +177,20 @@ def tell (self):
LCM_BIN_DIR = os.path.join(os.path.dirname(__file__), '..', 'bin')

def run_script(name: str, args) -> int:
file_extension = '.bat' if platform.system() == 'Windows' else ''
try:
return subprocess.call([os.path.join(LCM_BIN_DIR, name + file_extension), *args], close_fds=False)
if platform.system() == 'Windows':
candidates = [
os.path.join(LCM_BIN_DIR, f"{name}.bat"),
os.path.join(LCM_BIN_DIR, f"{name}.exe")
]
else:
candidates = [os.path.join(LCM_BIN_DIR, name)]

for executable in candidates:
if os.path.exists(executable):
return subprocess.call([executable, *args], close_fds=False)

raise FileNotFoundError(f"No executable found for {name} in {LCM_BIN_DIR}")
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On windows the init.py function doesn't load all the binaries as expected. It attempts to launch .bat files but for some applications, such as lcm-logger.exe a .bat doesn't exist in the bin folder.

I can reproduce this issue. After running pip install . -v --config-settings=cmake.args=--preset=vcpkg-vs with a venv activate, running lcm-logger produces the error:

Traceback (most recent call last):
  File "<frozen runpy>", line 198, in _run_module_as_main
  File "<frozen runpy>", line 88, in _run_code
  File "C:\Users\lcm\.venv\Scripts\lcm-logger.exe\__main__.py", line 7, in <module>
    sys.exit(run_logger())
             ~~~~~~~~~~^^
  File "C:\Users\lcm\.venv\Lib\site-packages\lcm\__init__.py", line 196, in run_logger
    raise SystemExit(run_script('lcm-logger', sys.argv[1:]))
                     ~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\lcm\.venv\Lib\site-packages\lcm\__init__.py", line 182, in run_script
    return subprocess.call([os.path.join(LCM_BIN_DIR, name + file_extension), *args], close_fds=False)
           ~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\AppData\Local\Programs\Python\Python313-arm64\Lib\subprocess.py", line 397, in call
    with Popen(*popenargs, **kwargs) as p:
         ~~~~~^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\AppData\Local\Programs\Python\Python313-arm64\Lib\subprocess.py", line 1038, in __init__
    self._execute_child(args, executable, preexec_fn, close_fds,
    ~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                        pass_fds, cwd, env,
                        ^^^^^^^^^^^^^^^^^^^
    ...<5 lines>...
                        gid, gids, uid, umask,
                        ^^^^^^^^^^^^^^^^^^^^^^
                        start_new_session, process_group)
                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\AppData\Local\Programs\Python\Python313-arm64\Lib\subprocess.py", line 1550, in _execute_child
    hp, ht, pid, tid = _winapi.CreateProcess(executable, args,
                       ~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^
                             # no special security
                             ^^^^^^^^^^^^^^^^^^^^^
    ...<4 lines>...
                             cwd,
                             ^^^^
                             startupinfo)
                             ^^^^^^^^^^^^
FileNotFoundError: [WinError 2] The system cannot find the file specified

These changes fix that issue for me.

except KeyboardInterrupt:
return 0

Expand Down
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