Directly run commands in ci container

.github/dockerursim/.vol/default.installation

@@ -1,4 +1,4 @@
-<Installation directory="/ursim/programs" fileName="default" showSpeedSliderOnRunTab="false">
+<Installation INSTALLATION-VERSION="2" INSTALLATION-LAST-SAVED-VERSION="2" directory="/ursim/programs" fileName="default" showSpeedSliderOnRunTab="false">
   <IOs>
     <DigitalInputNames value=", , , , , , , "/>
     <DigitalOutputNames value=", , , , , , , "/>
@@ -19,8 +19,7 @@
     <ToolDigitalOutputActions value="NONE, NONE"/>
     <AnalogOutputActions value="NONE, NONE"/>
     <ConfigurableOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
-    <euromapOutputModificationChoice value="1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1"/>
-    <euromapOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
+    <ModbusUnits/>
     <GeneralPurposeBooleanRegisterInputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
     <GeneralPurposeBooleanRegisterOutputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
     <GeneralPurposeIntRegisterInputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
@@ -31,23 +30,11 @@
     <GeneralPurposeBooleanRegisterOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
     <GeneralPurposeIntRegisterOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
     <GeneralPurposeFloatRegisterOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
-    <ModbusUnits/>
+    <euromapOutputModificationChoice value="1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1"/>
+    <euromapOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
   </IOs>
-  <Version projectName="URSoftware" major="5" minor="11" bugfix="1" buildNumber="108318" buildDate="Jun 18 2021, 12:00:00"/>
-  <LastSavedInVersion reference="../Version"/>
-  <SmoothTransitionSettings transitionHardness="SOFT"/>
-  <ResourceControlSettings/>
-  <ContinuousPulse/>
-  <PayloadSettings>
-    <Payload name="Payload" mass="0.0" defaultPayload="true" centerOfGravity="0.0, 0.0, 0.0" inertiaParameters="0.0, 0.0, 0.0, 0.0, 0.0, 0.0" customInertiaEnabled="false"/>
-  </PayloadSettings>
-  <SafeHomeSettings enabled="true" position="0.0, -1.5707963267948966, 0.0, -1.5707963267948966, 0.0, 0.0"/>
-  <TCPSettings activePose="TCP">
-    <availablePoses>
-      <tcp id="2e4b410d-3d81-4c59-937c-087544210280" name="TCP" offset="0.0, 0.0, 0.0, 0.0, 0.0, 0.0"/>
-    </availablePoses>
-  </TCPSettings>
-  <DefaultProgramSettings autoLoad="false"/>
+  <Version major="5" minor="11" bugfix="1"/>
+  <LastSavedInVersion major="5" minor="24" bugfix="0"/>
   <Features>
     <CameraView>
       <worldTransform class="WorldTransform">
@@ -61,8 +48,51 @@
       <ToolView showAxes="true" joggable="true" isVariable="false" id="3a9e24b6-0faf-4e81-8344-6af13d2e6405"/>
     </ToolView>
   </Features>
-  <ToolCommSettings enabled="false" toolAnalogInput2="VOLTAGE" toolAnalogInput3="VOLTAGE" baudRate="BAUD_115200" parity="NONE" stopBits="ONE" rxIdleChars="1.5" txIdleChars="3.5" toolOutputMode="OUTPUT" toolDigitalOutput0="SINKING" toolDigitalOutput1="SINKING" toolOutputVoltage="ZERO"/>
   <SafetySettings>
+[SafetyIOConfiguration Inputs]
+emergencyStopInputA = 255
+emergencyStopInputB = 255
+reducedModeInputA = 255
+reducedModeInputB = 255
+safeguardStopResetInputA = 0
+safeguardStopResetInputB = 1
+threePositionEnablingInputA = 255
+threePositionEnablingInputB = 255
+operationalModeInputA = 255
+operationalModeInputB = 255
+automaticModeSafeguardStopInputA = 255
+automaticModeSafeguardStopInputB = 255
+automaticModeSafeguardStopResetInputA = 255
+automaticModeSafeguardStopResetInputB = 255
+freedriveOnRobotInputA = 255
+freedriveOnRobotInputB = 255
+
+[SafetyIOConfiguration Outputs]
+systemEmergencyStopOutputA = 255
+systemEmergencyStopOutputB = 255
+robotMovingOutputA = 255
+robotMovingOutputB = 255
+robotNotStoppingOutputA = 255
+robotNotStoppingOutputB = 255
+reducedModeOutputA = 255
+reducedModeOutputB = 255
+notReducedModeOutputA = 255
+notReducedModeOutputB = 255
+safeHomeOutputA = 255
+safeHomeOutputB = 255
+configOut0and1_OSSD = 0
+configOut2and3_OSSD = 0
+configOut4and5_OSSD = 0
+configOut6and7_OSSD = 0
+
+[SafetySetup]
+verified = true
+withPositionLimits = [true, true, true, true, true, true]
+
+[Safety Checksum]
+version = 5.5
+crc = 1475618907
+
 [SafetyLimits BoundaryPlane0]
 name = Safety plane 0
 displacement = 0.0
@@ -132,20 +162,16 @@ tcpOrientationVector = [0.0, 0.0, 1.0]
 maximumTcpOrientationDeviation = 3.159045946109736
 mode = DISABLED
 
-[WorkpieceConfiguration]
-toolSpheres = [[0.0, 0.0, 0.0, 0.0]]
-toolSphereNames = [Tool Flange]
-toolSphereIDs = [null]
-toolDirectionInclination = 0.0
-toolDirectionAzimuth = 0.0
+[MiscConfiguration]
+teach_pendant = 1
+euromap67 = 0
 
 [ThreePositionEnabling]
 useTP3PE = 0
 allowManualHighSpeed = 1
 
-[MiscConfiguration]
-teach_pendant = 1
-euromap67 = 0
+[SafeHome]
+safeHomePosition = [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
 
 [SafetyLimits Normal Values]
 maxTcpSpeed = 1.5
@@ -181,62 +207,40 @@ maxJointPosition = [0.05235987799999986, 0.05235987799999986, 0.0523598779999998
 minJointRevolutions = [-2, -2, -2, -2, -2, -2]
 maxJointRevolutions = [1, 1, 1, 1, 1, 1]
 
-[SafetySetup]
-withPositionLimits = [true, true, true, true, true, true]
-verified = true
-
-[Safety Checksum]
-version = 5.5
-crc = 1475618907
-
-[SafeHome]
-safeHomePosition = [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
-
-[SafetyIOConfiguration Inputs]
-emergencyStopInputA = 255
-emergencyStopInputB = 255
-reducedModeInputA = 255
-reducedModeInputB = 255
-safeguardStopResetInputA = 0
-safeguardStopResetInputB = 1
-threePositionEnablingInputA = 255
-threePositionEnablingInputB = 255
-operationalModeInputA = 255
-operationalModeInputB = 255
-automaticModeSafeguardStopInputA = 255
-automaticModeSafeguardStopInputB = 255
-automaticModeSafeguardStopResetInputA = 255
-automaticModeSafeguardStopResetInputB = 255
-
-[SafetyIOConfiguration Outputs]
-systemEmergencyStopOutputA = 255
-systemEmergencyStopOutputB = 255
-robotMovingOutputA = 255
-robotMovingOutputB = 255
-robotNotStoppingOutputA = 255
-robotNotStoppingOutputB = 255
-reducedModeOutputA = 255
-reducedModeOutputB = 255
-notReducedModeOutputA = 255
-notReducedModeOutputB = 255
-safeHomeOutputA = 255
-safeHomeOutputB = 255
-configOut0and1_OSSD = 0
-configOut2and3_OSSD = 0
-configOut4and5_OSSD = 0
-configOut6and7_OSSD = 0
+[WorkpieceConfiguration]
+toolSpheres = [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]
+toolSphereNames = [Tool Flange, DISABLED, DISABLED]
+toolSphereIDs = [null, 05cb2fa6-f92a-43e7-9f8f-268f9eb48afd, 05cb2fa6-f92a-43e7-9f8f-268f9eb48afd]
+toolDirectionInclination = 0.0
+toolDirectionAzimuth = 0.0
 
 </SafetySettings>
+  <ToolWrenchConfiguration forceLimit="6.0" forceLimitEnabled="false" momentLimit="0.3" momentLimitEnabled="false"/>
+  <TCPSettings activePose="TCP">
+    <availablePoses>
+      <tcp id="2e4b410d-3d81-4c59-937c-087544210280" name="TCP" offset="0.0, 0.0, 0.0, 0.0, 0.0, 0.0"/>
+    </availablePoses>
+  </TCPSettings>
+  <ToolCommSettings enabled="false" toolAnalogInput2="VOLTAGE" toolAnalogInput3="VOLTAGE" baudRate="BAUD_115200" parity="NONE" stopBits="ONE" rxIdleChars="1.5" txIdleChars="3.5" toolOutputMode="OUTPUT" toolDigitalOutput0="SINKING" toolDigitalOutput1="SINKING" toolOutputVoltage="ZERO"/>
+  <EthernetIP enabled="false" programAction="IGNORE"/>
+  <DefaultProgramSettings autoLoad="false"/>
+  <SafeHomeSettings enabled="true" position="0.0, -1.5707963267948966, 0.0, -1.5707963267948966, 0.0, 0.0"/>
+  <Profinet enabled="false" PLCIO="IGNORE" PLCREG1="IGNORE" PLCREG2="IGNORE"/>
+  <ContinuousPulse/>
+  <MotionSettingsConfiguration motionVersion="UNDEFINED"/>
+  <ResourceControlSettings/>
+  <PayloadSettings>
+    <Payload name="Payload" mass="0.0" defaultPayload="true" centerOfGravity="0.0, 0.0, 0.0" inertiaParameters="0.0, 0.0, 0.0, 0.0, 0.0, 0.0" customInertiaEnabled="false"/>
+  </PayloadSettings>
+  <SmoothTransitionSettings transitionHardness="SOFT"/>
   <Contributions>
     <URCaps>
-      <Contributed ownerId="com.ur.urcap.conveyortracking" id="ConveyorTracking" installationContributionTitle="com.ur.urcap.conveyortracking" vendor="Universal Robots" name="Conveyor Tracking"/>
-      <Contributed ownerId="com.ur.urcap.ethernetip" id="EthernetIP" installationContributionTitle="com.ur.urcap.ethernetip" vendor="Universal Robots" name="Ethernet/IP"/>
-      <Contributed ownerId="com.ur.urcap.profinet" id="com.ur.urcap.profinet" installationContributionTitle="com.ur.urcap.profinet" vendor="Universal Robots" name="Profinet"/>
-      <Contributed ownerId="com.fzi.externalcontrol" id="com.fzi.externalcontrol.impl.ExternalControlInstallationNodeService" installationContributionTitle="com.fzi.externalcontrol" vendor="FZI Research Center for Information Technology" name="External Control">
-        <data key="host_ip" value="127.0.0.1"/>
-        <data key="name" value="127.0.0.1"/>
+      <Contributed ownerId="com.ur.urcap.conveyortracking" id="ConveyorTracking" installationContributionTitle="Conveyor Tracking" vendor="Universal Robots" name="Conveyor Tracking"/>
+      <Contributed ownerId="com.fzi.externalcontrol" id="com.fzi.externalcontrol.impl.ExternalControlInstallationNodeService" installationContributionTitle="External Control" vendor="FZI Research Center for Information Technology" name="External Control">
+        <data key="name" value="192.168.56.1"/>
+        <data key="host_ip" value="192.168.56.1"/>
       </Contributed>
-      <Contributed ownerId="com.ur.polyscope.screwdriving.polyscope-screwdriving-impl" id="com.ur.polyscope.screwdriving.installation.ScrewdrivingInstallationNodeService" installationContributionTitle="com.ur.polyscope.screwdriving.polyscope-screwdriving-impl" vendor="Universal Robots" name="polyscope-screwdriving-impl"/>
+      <Contributed ownerId="com.ur.polyscope.screwdriving.polyscope-screwdriving-impl" id="com.ur.polyscope.screwdriving.installation.ScrewdrivingInstallationNodeService" installationContributionTitle="Screwdriving" vendor="Universal Robots" name="polyscope-screwdriving-impl"/>
     </URCaps>
   </Contributions>
 </Installation>

.github/dockerursim/.vol/default.variables

@@ -1,2 +1 @@
-#
-#Fri Jun 18 10:27:46 BST 2021
+<InstallationVariables timestamp="Mon Dec 01 17:44:59 CET 2025"/>

.github/helpers/wait_for_dashboard_server.sh

@@ -1,11 +1,12 @@
 #!/bin/bash
 
-netcat -z 127.0.0.1 29999
-while [ $? -eq 1 ]
+expected="Connected: Universal Robots Dashboard Server
+Disconnected"
+response=$(echo "quit" | netcat -q 1 127.0.0.1 29999)
+while [ "$response" != "$expected" ]
 do
   echo "Dashboard server not accepting connections..."
   sleep 3
-  netcat -z 127.0.0.1 29999
+  response=$(echo "quit" | netcat -q 1 127.0.0.1 29999)
 done
 echo "Dashboard server connections are possible."
-sleep 5

.github/workflows/build.yaml

@@ -1,33 +1,70 @@
 name: Build URCap
-on: [push, pull_request]
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
 
 jobs:
   build:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        SDK_VERSION: [1.6.1, 1.7.0, 1.8.0, 1.9.0]
+        SDK_VERSION:
+          - 1.11.0
+          - 1.12.0
+          - 1.13.0
+          - 1.14.0
 
     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 $3}')
+          sudo apt-get update && sudo apt-get install -y openjdk-8-jdk maven dialog sshpass unzip curl
+          download_folder=$(mktemp -d)
+          pushd ${download_folder}
+          curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip
+          mkdir sdk
+          unzip -q sdk-${SDK_VERSION}.zip -d sdk
+          if [ "$SDK_MAJOR" -eq 1 ] && [ "$SDK_MINOR" -eq 10 ]; then
+            cd sdk/URCap_SDK-${SDK_VERSION}
+          else
+            cd sdk
+          fi
+          ./install.sh
+          popd
+          mvn install
         env:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
-      - name: Run URSim
+      - run: docker network create --subnet=192.168.56.0/24 ursim_net
+      - name: start ursim
         run: |
-          .github/dockerursim/build_and_run_docker_ursim.sh
+          docker run --rm -d \
+          -p 29999:29999 \
+          -p 30001-30004:30001-30004 \
+          -v ${PROGRAM_FOLDER}:/ursim/programs \
+          -v ${URCAPS_FOLDER}:/urcaps \
+          --net ursim_net --ip 192.168.56.101 \
+          --name ursim \
+          universalrobots/ursim_e-series:latest
+        env:
+          PROGRAM_FOLDER: ./.github/dockerursim/.vol
+          URCAPS_FOLDER: ./target
       - name: Install netcat
         run: |
-          sudo apt-get update && sudo apt-get install -y netcat
+          sudo apt-get install -y netcat-openbsd
       - name: Wait for dashboard client
         run: |
           ./.github/helpers/wait_for_dashboard_server.sh
       - name: Run test
         run: |
           python3 tests/test_urcap.py
       - name: Upload urcap_artifact
-        uses: actions/upload-artifact@v1
+        uses: actions/upload-artifact@v4
         with:
           path: target
           name: external_control_sdk-${{ matrix.SDK_VERSION }}.urcap

pom.xml

@@ -52,8 +52,8 @@
 				<artifactId>maven-compiler-plugin</artifactId>
 				<version>3.6.0</version>
 				<configuration>
-					<source>1.6</source>
-					<target>1.6</target>
+					<source>1.8</source>
+					<target>1.8</target>
 				</configuration>
 			</plugin>
 			<plugin>