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Always download and install the latest URCap(X) if not present #301

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Apr 2, 2025
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Always download and install the latest URCap(X) if not present #301

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26 changes: 18 additions & 8 deletions scripts/start_ursim.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
# POSSIBILITY OF SUCH DAMAGE.

PERSISTENT_BASE="${HOME}/.ursim"
URCAP_VERSION="1.0.5"
URCAP_VERSION="" # If not set, the latest version will be downloaded
IP_ADDRESS="192.168.56.101"
PORT_FORWARDING_WITH_DASHBOARD="-p 30001-30004:30001-30004 -p 29999:29999"
PORT_FORWARDING_WITHOUT_DASHBOARD="-p 30001-30004:30001-30004"
Expand Down Expand Up @@ -214,6 +214,14 @@

post_setup_polyscopex()
{
urcapx_download_url=$(curl -s https://api.github.com/repos/UniversalRobots/Universal_Robots_ExternalControl_URCapX/releases/latest | grep "browser_download_url.*urcapx" | cut -d ":" -f 2,3 | tr -d "\"[:space:]")
URCAPX_VERSION=$(echo "$urcapx_download_url" | grep -oP '\d+\.\d+\.\d+' | head -n 1)
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Do we want to add a URCAPX version argument as well or do we wait until there are multiple versions?

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I think I would rather not have one at all. In the past, we had it as we didn't pull the latest version from the Github release page. I would have even removed the other one, but left it there if anybody was actively using that.

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I am fine with leaving it out for know. I guess that we could end up in a situation where different releases of the URCap only work for specific releases of PolyscopeX, but then we can always add it later if that becomes a problem.

mkdir -p "${URCAP_STORAGE}"
urcapx_file="${URCAP_STORAGE}/external_control-$URCAPX_VERSION.urcapx"
if [[ ! -f "$urcapx_file" ]]; then
echo "Downloading External Control URCapX version ${URCAPX_VERSION}"
curl -L -o "$urcapx_file" "$urcapx_download_url"

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fi

echo -ne "Starting URSim. Waiting for UrService to be up..."
curl_cmd="curl --retry-connrefused -f --write-out %{http_code} --silent --output /dev/null $IP_ADDRESS/universal-robots/urservice/api/v1/urcaps"
Expand All @@ -228,11 +236,9 @@

echo ""; echo "UrService is up"

# TODO: Once we have a downloadable URCapX, we can use the following code to install it
#urcapx_file="${HOME}/Downloads/external-control-0.1.0.urcapx"
#echo "Installing URCapX $urcapx_file"
#curl --location --request POST --silent --output /dev/null "$IP_ADDRESS/universal-robots/urservice/api/v1/urcaps" --form urcapxFile=@"${urcapx_file}"
#echo "";
echo "Installing URCapX $urcapx_file"
curl --location --request POST --silent --output /dev/null "$IP_ADDRESS/universal-robots/urservice/api/v1/urcaps" --form urcapxFile=@"${urcapx_file}"
echo "";

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echo -e "\nTo access PolyScopeX, open the following URL in a web browser."
printf "\n\n\thttp://%s\n\n" "$IP_ADDRESS"
Expand Down Expand Up @@ -377,9 +383,13 @@
PROGRAM_STORAGE=$(realpath "$PROGRAM_STORAGE")

# Download external_control URCap
if [[ -z "$URCAP_VERSION" ]]; then
urcap_download_url=$(curl -s https://api.github.com/repos/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases/latest | grep "browser_download_url.*jar" | cut -d ":" -f 2,3 | tr -d "\"[:space:]")
URCAP_VERSION=$(echo "$urcap_download_url" | grep -oP '\d+\.\d+\.\d+' | head -n 1)
fi
if [[ ! -f "${URCAP_STORAGE}/externalcontrol-${URCAP_VERSION}.jar" ]]; then
curl -L -o "${URCAP_STORAGE}/externalcontrol-${URCAP_VERSION}.jar" \
"https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases/download/v${URCAP_VERSION}/externalcontrol-${URCAP_VERSION}.jar"
echo "Downloading and installing External Control URCap version ${URCAP_VERSION}"
curl -L -o "${URCAP_STORAGE}/externalcontrol-${URCAP_VERSION}.jar" "$urcap_download_url"
fi
docker_cmd="docker run --rm -d --net ursim_net --ip $IP_ADDRESS\
-v ${URCAP_STORAGE}:/urcaps \
Expand Down
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