Merge branch 'master' into movec_movep

Author: urfeex

.github/workflows/ci.yml

@@ -112,7 +112,7 @@ jobs:
           bundler-cache: true  # runs 'bundle install' and caches installed gems automatically
       - name: Setup Bats and bats libs
         id: setup-bats
-        uses: bats-core/[email protected].0
+        uses: bats-core/[email protected].1
       - name: Install Ruby dependencies
         run: bundle update --bundler && bundle install
       - name: Run unittests

doc/examples/freedrive.rst

@@ -56,10 +56,10 @@ section will keep freedrive mode active for a period of time defined in ``second
    :start-at: std::chrono::duration<double> time_done(0);
    :end-before: sendFreedriveMessageOrDie(control::FreedriveControlMessage::FREEDRIVE_STOP);
 
-Stop force Mode
----------------
+Stop freedrive Mode
+-------------------
 
-To stop force mode either stop sending keepalive signals or request deactivating it explicitly:
+To stop freedrive mode either stop sending keepalive signals or request deactivating it explicitly:
 
 .. literalinclude:: ../../examples/freedrive_example.cpp
    :language: c++

doc/images/initial_setup_images/px_01_welcome.png

@@ -205,9 +205,65 @@ application.
 
    .. group-tab:: PolyScope X
 
+      The latest release can be downloaded from `GitHub (URCapX)
+      <https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCapX/releases>`_.
+
+      To install it you first have to copy it to a USB stick and plug that into the robot's teach
+      pendant.
+
+      On the welcome screen click on the hamburger menu in the top-left corner and select *System
+      Manager* to enter the robot's setup.  There select *URCaps* to enter the URCaps installation
+      screen. You'll have to press *unlock* and enter the admin password to be able to install new
+      URCaps.
+
+
+      .. image:: ../images/initial_setup_images/px_01_welcome.png
+         :target: initial_setup_images/px_01_welcome.png
+         :alt: Welcome screen of a PolyScope X robot
+
+
+      There, click the "+URCap" button at the top-right to open the file selector. There you should see
+      all urcap files stored on a plugged USB drive.  Select and open
+      the **external-control-X.Y.Z.urcapx** file and click *Confirm*. A popup should ask you to
+      confirm the installation.
+
+      .. image:: ../images/initial_setup_images/px_05_urcaps_installed.png
+         :target: initial_setup_images/px_05_urcaps_installed.png
+         :alt: URCaps screen with installed urcaps
+
+      Upon confirmation, the external-control URCap should be listed as installed.
+
+      After the robot rebooted you should find the **External Control** URCapX on the *Application*
+      Screen. If you open it, you will get to its configuration screen.
+
+      .. image:: ../images/initial_setup_images/px_07_installation_excontrol.png
+         :target: initial_setup_images/px_07_installation_excontrol.png
+         :alt: Configuration screen of External Control URCapX
+
+
+      Here you'll have to setup the IP address of the external PC which will be running the remote
+      application. Note that the robot and the external PC have to be in the same network, ideally in a
+      direct connection with each other to minimize network disturbances. The custom port should be left
+      untouched for now.
+
+      To use the new URCaps, create a new program and insert the **External Control** program node into
+      the program tree
+
+      .. image:: ../images/initial_setup_images/px_10_prog_structure_urcaps.png
+         :target: initial_setup_images/px_10_prog_structure_urcaps.png
+         :alt: Insert the external control node
+
+
+      .. image:: ../images/initial_setup_images/px_11_program_view_excontrol.png
+         :target: initial_setup_images/px_11_program_view_excontrol.png
+         :alt: Program view of external control
+
+
+      If you select the External Control program node, you'll see a button "Update program"
+      appearing next to it. With the external application started, press it to receive the script
+      code.
+
       .. warning::
 
          Support for PolyScope X isn't fully developed, yet. Please consider using External Control
          with PolyScope X as an open beta.
-
-      For details on installing the External Control URCapX, please see https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCapX

doc/images/initial_setup_images/px_05_urcaps_installed.png

@@ -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"
@@ -214,6 +214,14 @@ post_setup_e-series()
 
 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 "$urcapx_download_url" | grep -oP '\d+\.\d+\.\d+' | head -n 1)
+  mkdir -p "${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"
+  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"
@@ -228,11 +236,9 @@ post_setup_polyscopex()
 
   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 "";
 
   echo -e "\nTo access PolyScopeX, open the following URL in a web browser."
   printf "\n\n\thttp://%s\n\n" "$IP_ADDRESS"
@@ -377,9 +383,13 @@ main() {
     PROGRAM_STORAGE=$(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 \