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| 1 | +#!/bin/bash |
| 2 | + |
| 3 | +# copyright 2022 Universal Robots A/S |
| 4 | +# |
| 5 | +# Redistribution and use in source and binary forms, with or without |
| 6 | +# modification, are permitted provided that the following conditions are met: |
| 7 | +# |
| 8 | +# * Redistributions of source code must retain the above copyright |
| 9 | +# notice, this list of conditions and the following disclaimer. |
| 10 | +# |
| 11 | +# * Redistributions in binary form must reproduce the above copyright |
| 12 | +# notice, this list of conditions and the following disclaimer in the |
| 13 | +# documentation and/or other materials provided with the distribution. |
| 14 | +# |
| 15 | +# * Neither the name of the {copyright_holder} nor the names of its |
| 16 | +# contributors may be used to endorse or promote products derived from |
| 17 | +# this software without specific prior written permission. |
| 18 | +# |
| 19 | +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 20 | +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 21 | +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 22 | +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE |
| 23 | +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 24 | +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 25 | +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 26 | +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 27 | +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 28 | +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 29 | +# POSSIBILITY OF SUCH DAMAGE. |
| 30 | + |
| 31 | +PERSISTENT_BASE="${HOME}/.ursim" |
| 32 | + |
| 33 | +help() |
| 34 | +{ |
| 35 | + # Display Help |
| 36 | + echo "Starts URSim inside a docker container" |
| 37 | + echo |
| 38 | + echo "Syntax: `basename "$0"` [-m|s|h]" |
| 39 | + echo "options:" |
| 40 | + echo " -m <model> Robot model. One of [ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e]. Defaults to ur5e." |
| 41 | + echo " -v <version> URSim version that should be used. |
| 42 | + See https://hub.docker.com/r/universalrobots/ursim_e-series/tags |
| 43 | + for available versions. Defaults to 'latest'" |
| 44 | + echo " -p <folder> Location from which programs are read / to which programs are written. |
| 45 | + If not specified, will fallback to ${PERSISTENT_BASE}/${ROBOT_SERIES}/programs" |
| 46 | + echo " -u <folder> Location from which URCaps are read / to which URCaps are written. |
| 47 | + If not specified, will fallback to ${PERSISTENT_BASE}/${ROBOT_SERIES}/urcaps" |
| 48 | + echo " -h Print this Help." |
| 49 | + echo |
| 50 | +} |
| 51 | + |
| 52 | +ROBOT_MODEL=UR5 |
| 53 | +ROBOT_SERIES=e-series |
| 54 | +URSIM_VERSION=latest |
| 55 | +URCAP_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/urcaps" |
| 56 | +PROGRAM_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/programs" |
| 57 | + |
| 58 | + |
| 59 | +validate_model() |
| 60 | +{ |
| 61 | + case $ROBOT_MODEL in |
| 62 | + ur3|ur5|ur10) |
| 63 | + ROBOT_MODEL=${ROBOT_MODEL^^} |
| 64 | + ROBOT_SERIES=cb3 |
| 65 | + ;; |
| 66 | + ur3e|ur5e|ur10e|ur16e) |
| 67 | + ROBOT_MODEL=${ROBOT_MODEL^^} |
| 68 | + ROBOT_MODEL=$(echo ${ROBOT_MODEL:0:$((${#ROBOT_MODEL}-1))}) |
| 69 | + ROBOT_SERIES=e-series |
| 70 | + ;; |
| 71 | + *) |
| 72 | + echo "Not a valid robot model: $ROBOT_MODEL" |
| 73 | + exit |
| 74 | + ;; |
| 75 | + esac |
| 76 | +} |
| 77 | + |
| 78 | +verlte() |
| 79 | +{ |
| 80 | + [ "$1" = $(printf "$1\n$2" | sort -V | head -n1) ] |
| 81 | +} |
| 82 | + |
| 83 | +validate_ursim_version() |
| 84 | +{ |
| 85 | + [ $URSIM_VERSION == "latest" ] && return 0 |
| 86 | + local MIN_CB3="3.12.1" |
| 87 | + local MIN_E_SERIES="5.5.1" |
| 88 | + |
| 89 | + case $ROBOT_SERIES in |
| 90 | + cb3) |
| 91 | + verlte "4.0.0" $URSIM_VERSION && echo "$URSIM_VERSION is no valid CB3 version!" && exit |
| 92 | + verlte $MIN_CB3 $URSIM_VERSION && return 0 |
| 93 | + ;; |
| 94 | + e-series) |
| 95 | + verlte $MIN_E_SERIES $URSIM_VERSION && return 0 |
| 96 | + ;; |
| 97 | + esac |
| 98 | + |
| 99 | + echo "Illegal version given. Version must be greater or equal to $MIN_CB3 / $MIN_E_SERIES. Given version: $URSIM_VERSION." |
| 100 | + exit |
| 101 | +} |
| 102 | + |
| 103 | + |
| 104 | +while getopts ":hm:v:p:u:" option; do |
| 105 | + case $option in |
| 106 | + h) # display Help |
| 107 | + help |
| 108 | + exit;; |
| 109 | + m) # robot model |
| 110 | + ROBOT_MODEL=${OPTARG} |
| 111 | + validate_model |
| 112 | + ;; |
| 113 | + v) # ursim_version |
| 114 | + URSIM_VERSION=${OPTARG} |
| 115 | + validate_ursim_version |
| 116 | + ;; |
| 117 | + p) # program_folder |
| 118 | + PROGRAM_STORAGE=${OPTARG} |
| 119 | + ;; |
| 120 | + u) # urcaps_folder |
| 121 | + URCAP_STORAGE=${OPTARG} |
| 122 | + ;; |
| 123 | + \?) # invalid option |
| 124 | + echo "Error: Invalid option" |
| 125 | + help |
| 126 | + exit;; |
| 127 | + esac |
| 128 | +done |
| 129 | + |
| 130 | +# Create local storage for programs and URCaps |
| 131 | +mkdir -p "${URCAP_STORAGE}" |
| 132 | +mkdir -p "${PROGRAM_STORAGE}" |
| 133 | +URCAP_STORAGE=$(realpath "$URCAP_STORAGE") |
| 134 | +PROGRAM_STORAGE=$(realpath "$PROGRAM_STORAGE") |
| 135 | + |
| 136 | + |
| 137 | +# Check whether network already exists |
| 138 | +docker network inspect ursim_net > /dev/null |
| 139 | +if [ $? -eq 0 ]; then |
| 140 | + echo "ursim_net already exists" |
| 141 | +else |
| 142 | + echo "Creating ursim_net" |
| 143 | + docker network create --subnet=192.168.56.0/24 ursim_net |
| 144 | +fi |
| 145 | + |
| 146 | +# run docker contain |
| 147 | +docker run --rm -d --net ursim_net --ip 192.168.56.101\ |
| 148 | + -v "${URCAP_STORAGE}":/urcaps \ |
| 149 | + -v "${PROGRAM_STORAGE}":/ursim/programs \ |
| 150 | + -e ROBOT_MODEL="${ROBOT_MODEL}" \ |
| 151 | + --name ursim \ |
| 152 | + universalrobots/ursim_${ROBOT_SERIES}:$URSIM_VERSION || exit |
| 153 | + |
| 154 | +trap "echo killing; docker container kill ursim; exit" SIGINT SIGTERM |
| 155 | + |
| 156 | +echo "Docker URSim is running" |
| 157 | +printf "\nTo access Polyscope, open the following URL in a web browser.\n\thttp://192.168.56.101:6080/vnc.html\n\n" |
| 158 | +echo "To exit, press CTRL+C" |
| 159 | + |
| 160 | +while : |
| 161 | +do |
| 162 | + sleep 1 |
| 163 | +done |
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