# WSL Setup Guide

Setup guide for Windows Subsystem for Linux (WSL2).

## Prerequisites

- Windows 10 (version 21H2+) or Windows 11
- WSL2 with Ubuntu 22.04

### Install WSL2

Open PowerShell as Administrator:

```powershell
wsl --install -d Ubuntu-22.04
```

Restart your computer, then open Ubuntu from the Start menu.

## GUI Support

### Windows 11 (WSLg)

GUI works automatically. No additional setup needed.

### Windows 10 (VcXsrv)

1. Download and install [VcXsrv](https://sourceforge.net/projects/vcxsrv/)
2. Run XLaunch with these settings:
   - Multiple windows
   - Start no client
   - Disable access control (checked)
3. In WSL, set DISPLAY:
```bash
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
```

## Installation

```bash
git clone https://git.sirblob.co/SirBlob/simulation.git
cd simulation
bash setup.sh
```

The setup script automatically:
- Detects WSL environment
- Installs GUI support packages
- Creates WSL environment file
- Configures DISPLAY variable

## Running the Simulation

```bash
cd ~/simulation
source activate_venv.sh
bash scripts/run_simulation.sh
```

If graphics are slow or Gazebo crashes:
```bash
bash scripts/run_simulation.sh --software-render
```

## Troubleshooting

### Black screen or no display

Check DISPLAY variable:
```bash
echo $DISPLAY
```

For WSLg (Windows 11), should be `:0`
For VcXsrv (Windows 10), should be `<IP>:0`

Test with:
```bash
xcalc
```

### Gazebo crashes immediately

Use software rendering:
```bash
export LIBGL_ALWAYS_SOFTWARE=1
bash scripts/run_simulation.sh
```

### OpenGL errors

```bash
export MESA_GL_VERSION_OVERRIDE=3.3
export MESA_GLSL_VERSION_OVERRIDE=330
```

### VcXsrv connection refused

1. Check Windows Firewall allows VcXsrv
2. Ensure XLaunch is running
3. Disable access control in XLaunch settings

### Slow performance

- Close unnecessary Windows applications
- Allocate more RAM to WSL in `.wslconfig`:
```ini
[wsl2]
memory=8GB
processors=4
```

- Use software rendering flag

## Environment Variables

The `activate_venv.sh` script sets these automatically:

```bash
export DISPLAY=:0  # or IP:0 for VcXsrv
export LIBGL_ALWAYS_INDIRECT=0
export MESA_GL_VERSION_OVERRIDE=3.3
```

## Uninstall

```bash
bash scripts/uninstall.sh --all
```