URSim Tools

ursimtool

#!/usr/bin/env bash

VERSION="URSim_Linux-3.7.2.40245.tar.gz"
FOLDER="ursim-3.7.2.40245"
FILE=ursim.tar.gz
UNPACKDIR=/tmp/ursim-unpack



function download {
    if [ -f /tmp/$VERSION  ]; then
        echo "/tmp/$VERSION already exists. No new download will happen."
        return 0
    fi

    wget https://s3-eu-west-1.amazonaws.com/ur-support-site/45439/$VERSION \
        -O /tmp/$VERSION
}

function unpack {
    if [ ! -f /tmp/$VERSION ]; then
        download
    fi

    if [ -d $UNPACKDIR ]; then
        sudo rm -Rf $UNPACKDIR
    fi
    DESTINATION=$1

    if [ -z ${DESTINATION+x} ]; then echo "unpack needs destination"; exit -1; fi

    mkdir $UNPACKDIR
    tar zxf /tmp/$VERSION -C $UNPACKDIR
    chown -R $USER:$USER $UNPACKDIR
    chmod 755 $UNPACKDIR
    local latest="$(ls -rd $UNPACKDIR/ursim-* | head -1)"
    sudo mv $latest $DESTINATION
}

needToInstallJava() {
    echo "Checking java version"
    if command -v java; then
	# source https://stackoverflow.com/questions/7334754/correct-way-to-check-java-version-from-bash-script
        version=$(java -version 2>&1 | awk -F '"' '/version/ {print $2}')
        version1=$(echo "$version" | awk -F. '{printf("%03d%03d",$1,$2);}')
        if [[ $((10#$version1)) -ge $((10#001006)) ]]; then
            #echo "java version accepted"
            return 0
        else
            echo "Java version '$version' is not accepted."
	    fi
    fi
    return 1
}

function checkJava {
    needToInstallJava
    if [[ $? -ne 0 ]]; then
        # install default jre for distribution, make sure that it's at least 1.6
        sudo apt-get -y install default-jre
        if [[ $? -ne 0 ]]; then
            echo "Failed installing java, exiting"
            exit 2
        fi
        needToInstallJava
        if [[ $? -ne 0 ]]; then
            echo "Installed java version is too old, exiting"
            exit 3
        fi
    fi
}

function reinstall {
    if [ -z ${URSIM_ROOT+x} ]; then
        # env variable was not set, try first argument
        URSIM_ROOT=$1
        if [ -z ${URSIM_ROOT+x} ]; then echo "Must provide path for URSIM_ROOT"; exit -1; fi
    else
        echo "URSIM_ROOT is set to '$URSIM_ROOT'"
    fi


    if [ -d $URSIM_ROOT ]; then
        echo "$URSIM_ROOT does already exist! Installation can not continue."
        exit -1
    fi

    unpack $URSIM_ROOT
    cd $URSIM_ROOT

    commonDependencies='libcurl3 libjava3d-* ttf-dejavu* fonts-ipafont fonts-baekmuk fonts-nanum fonts-arphic-uming fonts-arphic-ukai'
    if [[ $(getconf LONG_BIT) == "32" ]]
    then
        print "Installer is currently not implemented for 32-bit"
        # packages=`ls $PWD/ursim-dependencies/*i386.deb`
        # pkexec bash -c "apt-get -y install $commonDependencies && (echo '$packages' | xargs dpkg -i)"
    else
        sudo dpkg --add-architecture i386
        pkexec bash -c "apt-get -y install lib32gcc1 lib32stdc++6 libc6-i386 $commonDependencies"
        #packages=`ls $PWD/ursim-dependencies/*amd64.deb`
        #pkexec bash -c "(echo '$packages' | xargs dpkg -i)"
        sudo apt-get -y install libxmlrpc-c++8-dev:i386 libxmlrpc-core-c3:i386

    fi

    source version.sh

    echo "URSIM_ROOT=$URSIM_ROOT"

    pushd $URSIM_ROOT/lib &>/dev/null
    chmod +x ../URControl

    popd &>/dev/null

}

function install {
    checkJava
    download
    reinstall $1
}

function start {
    local TYPE=$1
    if [ ! -f "$URSIM_ROOT/start-ursim.sh" ]; then
        echo "URSIM_ROOT is not set!"
        exit -1
    fi
    $URSIM_ROOT/start-ursim.sh $1
}

function help {
    echo ""
    echo "ursimtool syntax"
    echo ""
    echo "ursimtool help                                     - show this help"
    echo "ursimtool install <path>                           - installs $VERSION"
    echo "URSIM_ROOT=<path> ursimtool start <UR3|UR5|UR10>   - starts sim using for robot"
    echo ""
}

# if we are not running inside a terminal, make sure that we do
tty -s
if [[ $? -ne 0 ]]
then
    xterm -e "$0"
    exit 0
fi


set -e

$@