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[start_ursim] Always check ursim version for compatibility #203

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May 29, 2024
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[start_ursim] Always check ursim version for compatibility #203

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24 changes: 16 additions & 8 deletions scripts/start_ursim.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,15 @@ verlte()

validate_ursim_version()
{
[ $URSIM_VERSION == "latest" ] && return 0
local IMAGE_URSIM_VERSION
# Inspect the image's URSim version if the image is locally available. This is especially
# important when we use the "latest" tag, as we don't know the version hiding behind this and it
# could be potentially older.
IMAGE_URSIM_VERSION=$(docker image inspect universalrobots/ursim_"${ROBOT_SERIES}":"$URSIM_VERSION" 2>/dev/null | grep -Po '"build_version": "URSim Version: \K[^"]*') || true
if [ -z "$IMAGE_URSIM_VERSION" ]; then
IMAGE_URSIM_VERSION="$URSIM_VERSION"
fi
[ "$IMAGE_URSIM_VERSION" == "latest" ] && return 0
local MIN_CB3="3.14.3"
local MIN_E_SERIES="5.9.4"
local MIN_UR20="5.14.0"
Expand All @@ -100,25 +108,25 @@ validate_ursim_version()

case $ROBOT_SERIES in
cb3)
verlte "4.0.0" $URSIM_VERSION && echo "$URSIM_VERSION is no valid CB3 version!" && exit
verlte $MIN_CB3 $URSIM_VERSION && return 0
verlte "4.0.0" "$IMAGE_URSIM_VERSION" && echo "$IMAGE_URSIM_VERSION is no valid CB3 version!" && exit
verlte "$MIN_CB3" "$IMAGE_URSIM_VERSION" && return 0
MIN_VERSION=$MIN_CB3
;;
e-series)
if [[ $ROBOT_MODEL == "UR20" ]]; then
verlte $MIN_UR20 $URSIM_VERSION && return 0
verlte "$MIN_UR20" "$IMAGE_URSIM_VERSION" && return 0
MIN_VERSION=$MIN_UR20
elif [[ $ROBOT_MODEL == "UR30" ]]; then
verlte $MIN_UR30 $URSIM_VERSION && return 0
verlte "$MIN_UR30" "$IMAGE_URSIM_VERSION" && return 0
MIN_VERSION=$MIN_UR30
else
verlte $MIN_E_SERIES $URSIM_VERSION && return 0
verlte "$MIN_E_SERIES" "$URSIM_VERSION" && return 0
MIN_VERSION=$MIN_E_SERIES
fi
;;
esac

echo "Illegal version given. Version must be greater or equal to $MIN_VERSION. Given version: $URSIM_VERSION."
echo "Illegal version given. For $ROBOT_SERIES $ROBOT_MODEL the software version must be greater or equal to $MIN_VERSION. Given version: $IMAGE_URSIM_VERSION."
exit
}

Expand All @@ -134,7 +142,6 @@ while getopts ":hm:v:p:u:d" option; do
;;
v) # ursim_version
URSIM_VERSION=${OPTARG}
validate_ursim_version
;;
p) # program_folder
PROGRAM_STORAGE=${OPTARG}
Expand All @@ -151,6 +158,7 @@ while getopts ":hm:v:p:u:d" option; do
exit;;
esac
done
validate_ursim_version

# Create local storage for programs and URCaps
mkdir -p "${URCAP_STORAGE}"
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