From 1a479422eddf2c7f6340102450b8f3713f45c11b Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:26:07 +0100
Subject: [PATCH 01/10] Directly run commands in ci container

---
 .github/workflows/build.yaml | 50 +++++++++++++++++++++++++++++++-----
 1 file changed, 44 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index dd13b84..491dd18 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -1,5 +1,10 @@
 name: Build URCap
-on: [push, pull_request]
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
 
 jobs:
   build:
@@ -7,16 +12,49 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        SDK_VERSION: [1.6.1, 1.7.0, 1.8.0, 1.9.0]
+        SDK_VERSION:
+          #- 1.6.1
+          #- 1.7.0
+          #- 1.8.0
+          - 1.9.0
+          #- 1.10.0
+          #- 1.11.0
+          #- 1.12.0
+          #- 1.13.0
+          #- 1.14.0
+          #- 1.15.0
+          #- 1.16.0
 
     steps:
-      - uses: actions/checkout@v1
-      - uses: ./.github/actions/build_urcap
+      - uses: actions/checkout@v4
+      - run: |
+          SDK_MAJOR=$(echo ${SDK_VERSION} | awk -F. '{print $1}')
+          SDK_MINOR=$(echo ${SDK_VERSION} | awk -F. '{print $2}')
+          SDK_BUILD=$(echo ${SDK_VERSION} | awk -F. '{print $3}')
+          apt-get update && apt-get install -y default-jdk maven dialog sshpass unzip curl
+          download_folder=$(mktemp -d)
+          pushd ${download_folder}
+          curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip
+          mkdir sdk
+          unzip -q sdk-${SDK_VERSION}.zip -d sdk
+          if [ "$SDK_MAJOR" -eq 1 ] && [ "$SDK_MINOR" -lt 10 ]; then
+            cd sdk
+          else
+            cd sdk/URCap_SDK-${SDK_VERSION}
+          fi
+          ./install.sh
+          popd
+          mvn install
         env:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
-      - name: Run URSim
+      - name: start ursim
         run: |
-          .github/dockerursim/build_and_run_docker_ursim.sh
+          docker run --rm -d -p 29999:29999 -p 30001-30004:30001:30004 --name ursim
+        #env:
+          #DOCKER_RUN_OPTS: --network ursim_net
+          #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
+          #URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
+          #PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
       - name: Install netcat
         run: |
           sudo apt-get update && sudo apt-get install -y netcat

From 8e60ba23a4c3076fb1b533f8715a35c97f7c021c Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:27:31 +0100
Subject: [PATCH 02/10] Update upload-artifact

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 491dd18..d0246dc 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -65,7 +65,7 @@ jobs:
         run: |
           python3 tests/test_urcap.py
       - name: Upload urcap_artifact
-        uses: actions/upload-artifact@v1
+        uses: actions/upload-artifact@v4
         with:
           path: target
           name: external_control_sdk-${{ matrix.SDK_VERSION }}.urcap

From 60474e94beb7ec319c4f596eaff2fe920c9f3863 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:29:31 +0100
Subject: [PATCH 03/10] Use sudo

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index d0246dc..bcf12c4 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -31,7 +31,7 @@ jobs:
           SDK_MAJOR=$(echo ${SDK_VERSION} | awk -F. '{print $1}')
           SDK_MINOR=$(echo ${SDK_VERSION} | awk -F. '{print $2}')
           SDK_BUILD=$(echo ${SDK_VERSION} | awk -F. '{print $3}')
-          apt-get update && apt-get install -y default-jdk maven dialog sshpass unzip curl
+          sudo apt-get update && sudo apt-get install -y default-jdk maven dialog sshpass unzip curl
           download_folder=$(mktemp -d)
           pushd ${download_folder}
           curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip

From c5094966a5822e43468ccce91f326bbd28d63043 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:32:11 +0100
Subject: [PATCH 04/10] Use newer version

---
 .github/workflows/build.yaml | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index bcf12c4..b5163a9 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -16,14 +16,12 @@ jobs:
           #- 1.6.1
           #- 1.7.0
           #- 1.8.0
-          - 1.9.0
+          #- 1.9.0
           #- 1.10.0
           #- 1.11.0
           #- 1.12.0
           #- 1.13.0
-          #- 1.14.0
-          #- 1.15.0
-          #- 1.16.0
+          - 1.14.0
 
     steps:
       - uses: actions/checkout@v4

From 21db98c1c31ba1a37c35ad108fb5b4717214f06d Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:40:52 +0100
Subject: [PATCH 05/10] Fix version-dependent unzip

---
 .github/workflows/build.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index b5163a9..633ce2f 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -35,10 +35,10 @@ jobs:
           curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip
           mkdir sdk
           unzip -q sdk-${SDK_VERSION}.zip -d sdk
-          if [ "$SDK_MAJOR" -eq 1 ] && [ "$SDK_MINOR" -lt 10 ]; then
-            cd sdk
-          else
+          if [ "$SDK_MAJOR" -eq 1 ] && [ "$SDK_MINOR" -eq 10 ]; then
             cd sdk/URCap_SDK-${SDK_VERSION}
+          else
+            cd sdk
           fi
           ./install.sh
           popd

From 61d9f2dc3405bb377688280b2d4eaa72b848f10a Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:49:28 +0100
Subject: [PATCH 06/10] start ursim

---
 .github/workflows/build.yaml | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 633ce2f..53722a1 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -13,11 +13,6 @@ jobs:
       fail-fast: false
       matrix:
         SDK_VERSION:
-          #- 1.6.1
-          #- 1.7.0
-          #- 1.8.0
-          #- 1.9.0
-          #- 1.10.0
           #- 1.11.0
           #- 1.12.0
           #- 1.13.0
@@ -47,7 +42,7 @@ jobs:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
       - name: start ursim
         run: |
-          docker run --rm -d -p 29999:29999 -p 30001-30004:30001:30004 --name ursim
+          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 --name ursim universalrobots/ursim_e-series:latest
         #env:
           #DOCKER_RUN_OPTS: --network ursim_net
           #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}

From e66f5da0de8c6d3d28931805d07f3c3981638f30 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:55:48 +0100
Subject: [PATCH 07/10] Use jdk-11

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 53722a1..421ad77 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -24,7 +24,7 @@ jobs:
           SDK_MAJOR=$(echo ${SDK_VERSION} | awk -F. '{print $1}')
           SDK_MINOR=$(echo ${SDK_VERSION} | awk -F. '{print $2}')
           SDK_BUILD=$(echo ${SDK_VERSION} | awk -F. '{print $3}')
-          sudo apt-get update && sudo apt-get install -y default-jdk maven dialog sshpass unzip curl
+          sudo apt-get update && sudo apt-get install -y openjdk-11-jdk maven dialog sshpass unzip curl
           download_folder=$(mktemp -d)
           pushd ${download_folder}
           curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip

From 5305cc28158cc448cbad0325a0d564aa0ba5591e Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:56:24 +0100
Subject: [PATCH 08/10] Specify netcat version

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 421ad77..90f2284 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -50,7 +50,7 @@ jobs:
           #PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
       - name: Install netcat
         run: |
-          sudo apt-get update && sudo apt-get install -y netcat
+          sudo apt-get install -y netcat-openbsd
       - name: Wait for dashboard client
         run: |
           ./.github/helpers/wait_for_dashboard_server.sh

From ecf93c12b0193612ad2acec8822b36b9b9d266d9 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 17:08:48 +0100
Subject: [PATCH 09/10] Mount program folder

---
 .github/workflows/build.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 90f2284..88c7668 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -42,12 +42,12 @@ jobs:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
       - name: start ursim
         run: |
-          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 --name ursim universalrobots/ursim_e-series:latest
-        #env:
+          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 --name ursim universalrobots/ursim_e-series:latest -v ${PROGRAM_FOLDER}:/ursim/programs
+        env:
           #DOCKER_RUN_OPTS: --network ursim_net
           #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
           #URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
-          #PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
+          PROGRAM_FOLDER: ./.github/dockerursim/.vol
       - name: Install netcat
         run: |
           sudo apt-get install -y netcat-openbsd

From 94a7cf7bb856bd54a6bf0e49dcb7aef0d3f53454 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 17:14:28 +0100
Subject: [PATCH 10/10] openjdk8

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 88c7668..3b70af8 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -24,7 +24,7 @@ jobs:
           SDK_MAJOR=$(echo ${SDK_VERSION} | awk -F. '{print $1}')
           SDK_MINOR=$(echo ${SDK_VERSION} | awk -F. '{print $2}')
           SDK_BUILD=$(echo ${SDK_VERSION} | awk -F. '{print $3}')
-          sudo apt-get update && sudo apt-get install -y openjdk-11-jdk maven dialog sshpass unzip curl
+          sudo apt-get update && sudo apt-get install -y openjdk-8-jdk maven dialog sshpass unzip curl
           download_folder=$(mktemp -d)
           pushd ${download_folder}
           curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip