Lucy.py single entry

.github/workflows/install-and-launch.yml

@@ -98,138 +98,3 @@ jobs:
             exit 1
           fi
 
-  windows-build-test:
-    name: Windows build & installer test (${{ matrix.arch }})
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - arch: x64
-            runner: windows-latest
-            expected_platform: win-64
-          - arch: arm64
-            runner: windows-11-arm
-            expected_platform: win-64
-    runs-on: ${{ matrix.runner }}
-    timeout-minutes: 30
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v5
-
-      - uses: prefix-dev/setup-pixi@v0.10.0
-        with:
-          pixi-version: latest
-          cache: false
-          post-cleanup: false
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.x'
-
-      - name: Generate releases manifest
-        run: python windows/generate_releases.py
-
-      - name: Verify host Pixi platform detection
-        shell: pwsh
-        run: |
-          $expected = "${{ matrix.expected_platform }}"
-          $got = (python -c "import sys; sys.path.insert(0,'windows'); import install_ops; print(install_ops.host_pixi_platform())").Trim()
-          Write-Host "host_pixi_platform() -> $got (expected $expected)"
-          if ($got -ne $expected) {
-            Write-Error "Platform detection mismatch: got '$got', expected '$expected'"
-            exit 1
-          }
-
-      - name: Install PyInstaller
-        run: python -m pip install pyinstaller
-
-      - name: Build Lucy.exe
-        shell: pwsh
-        run: |
-          python -m PyInstaller --noconfirm --onefile --name Lucy `
-            --icon windows/assets/lucy-icon.ico `
-            --hidden-import install_ops `
-            --hidden-import install_runner `
-            --paths windows `
-            windows/Lucy.py
-          if (-not (Test-Path "dist/Lucy.exe")) { Write-Error "Lucy.exe not produced"; exit 1 }
-
-      - name: Smoke-test Lucy.exe CLI (bundled imports + prereq report)
-        shell: pwsh
-        run: |
-          dist\Lucy.exe --cli check-prereqs
-          $code = $LASTEXITCODE
-          Write-Host "check-prereqs exit code: $code"
-          if ($code -gt 1) { Write-Error "Lucy.exe --cli check-prereqs crashed (exit $code)"; exit 1 }
-          exit 0
-
-      - name: Install NSIS
-        run: choco install nsis -y --no-progress
-
-      - name: Build Lucy-Setup.exe (NSIS)
-        shell: pwsh
-        run: |
-          $makensis = "${env:ProgramFiles(x86)}\NSIS\makensis.exe"
-          & $makensis "/DMyAppVersion=0.0.0-ci" windows/installer/Lucy.nsi
-          if (-not (Test-Path "dist/Lucy-Setup-0.0.0-ci.exe")) { Write-Error "Installer not produced"; exit 1 }
-
-      - name: Upload Windows artifacts
-        uses: actions/upload-artifact@v5
-        with:
-          name: lucy-windows-${{ matrix.arch }}
-          path: |
-            dist/Lucy.exe
-            dist/Lucy-Setup-0.0.0-ci.exe
-          if-no-files-found: error
-
-  build-and-release-windows-exe:
-    name: Build and Release Windows Executable
-    if: startsWith(github.ref, 'refs/tags/')
-    runs-on: windows-latest
-    needs: pixi-install-build-test
-    permissions:
-      contents: write
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v5
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.x'
-
-      - name: Generate releases manifest
-        run: python windows/generate_releases.py
-
-      - name: Install PyInstaller
-        run: python -m pip install pyinstaller
-
-      - name: Build Lucy.exe
-        shell: pwsh
-        run: |
-          python -m PyInstaller --noconfirm --onefile --name Lucy `
-            --icon windows/assets/lucy-icon.ico `
-            --hidden-import install_ops `
-            --hidden-import install_runner `
-            --paths windows `
-            windows/Lucy.py
-
-      - name: Install NSIS
-        run: choco install nsis -y
-
-      - name: Build Lucy-Setup.exe
-        shell: pwsh
-        run: |
-          $version = "${{ github.ref_name }}" -replace '^v',''
-          if (-not $version) { $version = "0.0.0" }
-          $makensis = "${env:ProgramFiles(x86)}\NSIS\makensis.exe"
-          & $makensis "/DMyAppVersion=$version" windows/installer/Lucy.nsi
-
-      - name: Create Release and Upload Assets
-        uses: softprops/action-gh-release@v2
-        with:
-          files: |
-            dist/Lucy.exe
-            dist/Lucy-Setup-*.exe
-          draft: true

.gitignore

@@ -39,12 +39,13 @@ config/repos.json.local
 # Local launcher override (package list/toggles; takes precedence over config/launcher_config.json)
 config/launcher_config.json.local
 
-# End-user install profile (written by installer / Lucy.exe)
+# End-user install profile (written by the Windows installer)
 config/install.profile.json
 
 # Windows executable files
 dist/
 *.spec
 
 *.local
-.local/
+.local/
+

Lucy.py

@@ -1,18 +1,22 @@
 #!/usr/bin/env python3
 
-import curses
 import os
 import subprocess
 import sys
 import shutil
 
+try:
+    import curses
+except ImportError:  # Windows: handled by windows_main
+    curses = None
+
 MIN_TERM_HEIGHT = 15
 MIN_TERM_WIDTH = 65
 INSTALL_ENV = {"LUCY_PIXI_AUTO_UPGRADE": "1"}
 
 def is_installed():
     """True when the workspace has been built (mirrors launch_lucy.sh's check)."""
-    return os.path.isfile("install/setup.bash")
+    return any(os.path.isfile(f) for f in ("install/setup.bash", "install/setup.bat"))
 
 def get_dev_mode():
     if not os.path.exists(".env"):
@@ -40,6 +44,43 @@ def set_dev_mode(is_enabled):
         if not dev_found:
             f.write(f"DEV={str(is_enabled).lower()}\n")
 
+PIXI_TASKS = (
+    ("pixi run core", "robot stack + rosbridge on 9090"),
+    ("pixi run control-panel", "web UI on http://localhost:4004"),
+    ("pixi run rviz", "optional viewer"),
+)
+
+
+def confirm(prompt):
+    """Yes unless explicitly declined; assumes yes when nothing can answer."""
+    if not sys.stdin.isatty():
+        return True
+    try:
+        return input(f"{prompt} [Y/n] ").strip().lower() in ("", "y", "yes")
+    except EOFError:
+        return True
+
+
+def windows_main():
+    """Entry point on Windows, which has neither curses for the TUI nor tmux to drive.
+
+    install.py runs interactively so its pixi and MSVC prompts reach the user.
+    """
+    if not is_installed():
+        print("Lucy is not installed in this workspace.")
+        if not confirm("Install now?"):
+            return 0
+        rc = run_command([sys.executable, "install.py"], interactive=True, extra_env=INSTALL_ENV)
+        if rc != 0:
+            print(f"\nInstall failed with exit code {rc}.", file=sys.stderr)
+            return rc
+
+    print("\nLucy is installed. Start each component in its own terminal:")
+    for command, purpose in PIXI_TASKS:
+        print(f"  {command:<24} {purpose}")
+    return 0
+
+
 def prepend_pixi_to_path():
     """Prefer ~/.pixi/bin over system/nix pixi (official installer is usually newer)."""
     pixi_bin = os.path.join(os.path.expanduser("~"), ".pixi", "bin")
@@ -222,6 +263,10 @@ def main_tui(stdscr):
 if __name__ == "__main__":
     # This initial check is done before curses.wrapper to provide a clean error message
     # without the screen flicker of initializing and de-initializing curses.
+    # Windows first: the size check below needs curses, which does not exist there.
+    if sys.platform == "win32":
+        sys.exit(windows_main())
+
     def check_initial_size():
         stdscr = curses.initscr()
         h, w = stdscr.getmaxyx()

README.md

@@ -58,7 +58,7 @@ python install.py
 
 Keep the workspace in a path **without spaces**. Pixi console scripts (colcon, pytest, ROS 2 nodes) embed the interpreter path unquoted and cannot start from one; `%LOCALAPPDATA%\Programs\Lucy` is the installer's default.
 
-**End users:** download **`Lucy-Setup.exe`** from [GitHub Releases](https://github.com/Sentience-Robotics/lucy_ws/releases). See the [Windows README](windows/README.md).
+Pixi resolves **`win-64`** on both Intel/AMD and Windows-on-ARM hosts — there is no `win-arm64` entry in `pixi.lock`. Reopen your terminal after installing anything above so the updated `PATH` is picked up.
 
 ## Quick start
 

docs/developer_lucy_packages.md

@@ -21,7 +21,7 @@ SSH keys must be configured for GitHub on your host before running `install.py`
 |------|---------|
 | [`config/repos.json.local`](../config/repos.json.local) | Forks, feature branches, skip optional repos |
 | [`config/launcher_config.json.local`](../config/launcher_config.json.local) | Custom Control Center package list (e.g. multi-robot) |
-| [`config/install.profile.json`](../config/install.profile.json) | Windows installer choices (written by `Lucy-Setup.exe`) |
+| [`config/install.profile.json`](../config/install.profile.json) | Windows installer choices (written by the installer) |
 
 Example for a fork — same structure as `repos.json`:
 
@@ -60,19 +60,13 @@ Standard path: `python3 install.py` then `python3 Lucy.py`.
 
 ### Windows
 
-End-user install: **`Lucy-Setup.exe`** → **`Lucy.exe`**. Full details: [`windows/README.md`](../windows/README.md).
+`python3 install.py` installs, `--repair` re-clones and rebuilds, `--build-only`
+skips git. `python3 Lucy.py` runs install when the workspace is missing and
+otherwise names the pixi tasks; there is no TUI on Windows (no curses, no tmux).
 
-Developer CLI equivalents:
-
-| Windows | Linux/macOS |
-|---------|-------------|
-| `Lucy-Setup.exe` → Fresh install | `python3 install.py` |
-| `Lucy-Setup.exe` → Update | `python3 install.py` |
-| `Lucy-Setup.exe` → Repair | `python3 install.py --repair` |
-| `Lucy.exe` | `./launch_lucy.sh` |
-| `Lucy.exe --cli build-only` | `python3 install.py --build-only` |
-
-Launch runs via Git Bash (`bash launch_lucy.sh`). Without tmux, the Control Center runs directly (`pixi run -- python -m launcher`).
+Pixi resolves `win-64` on Intel/AMD and Windows-on-ARM alike — `pixi.lock` has
+no `win-arm64`. Colcon uses `--merge-install` there, see
+[`docs/pixi_setup.md`](pixi_setup.md).
 
 ### Workspace install (`install.py`)
 
@@ -110,7 +104,7 @@ Day-to-day use: one tmux session (Linux/macOS), toggle components in the TUI.
 |-------|---------|
 | TUI manager | `python3 Lucy.py` → **Launch** |
 | Direct | `./launch_lucy.sh` |
-| Windows | `Lucy.exe` |
+| Windows | `python3 Lucy.py`, then the pixi tasks it lists |
 
 | `launch_lucy.sh` flag | Purpose |
 |-----------------------|---------|
@@ -222,7 +216,6 @@ Vite proxies `/rosbridge` to `ws://127.0.0.1:9090`. Launcher sets `LUCY_LCP_*` v
 | [`docs/launcher_packages.md`](launcher_packages.md) | Adding packages to the Control Center |
 | [`docs/pixi_setup.md`](pixi_setup.md) | Pixi/RoboStack deps, lock workflow, component tasks |
 | [`docs/pixi_release.md`](pixi_release.md) | Release packaging (pixi-build-ros) |
-| [`windows/README.md`](../windows/README.md) | Windows installer and `Lucy.exe` |
 | [`src/lucy_ros_packages/docs/DEVELOPER.md`](../src/lucy_ros_packages/docs/DEVELOPER.md) | bringup, ros2_control, CI |
 | [`src/lucy_ros_packages/doc/ROS2_CONTROL.md`](../src/lucy_ros_packages/doc/ROS2_CONTROL.md) | ros2_control on Lucy |
 | [`src/inmoov_urdf/docs/DEVELOPER.md`](../src/inmoov_urdf/docs/DEVELOPER.md) | URDF, meshes, sim launches |

install.py

@@ -2,7 +2,7 @@
 """Lucy workspace setup: clone sub-repos, install RoboStack deps via Pixi, colcon build.
 
 Single cross-platform implementation behind the Windows launcher and the
-Windows flows in windows/install_ops.py. Keep behaviour changes here so no
+Keep behaviour changes here so no
 platform drifts from the others.
 
 Usage: