From 9ea1169e734a66768af84b542efdec77222aa6b1 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Tue, 8 Jul 2025 16:00:45 +0200
Subject: [PATCH] Remove SDK version mapping

The PolyScope X Docker images do now also support marketing version
tags. Thus, we can skip the SDK number to marketing version mapping.
This way new versions will be available as soon as the Docker image is
available.
---
 scripts/start_ursim.sh      | 16 ++++------------
 tests/test_start_ursim.bats |  9 +--------
 2 files changed, 5 insertions(+), 20 deletions(-)

diff --git a/scripts/start_ursim.sh b/scripts/start_ursim.sh
index 7ea73eb30..3e0683fd4 100755
--- a/scripts/start_ursim.sh
+++ b/scripts/start_ursim.sh
@@ -36,13 +36,6 @@ PORT_FORWARDING_WITHOUT_DASHBOARD="-p 30001-30004:30001-30004"
 CONTAINER_NAME="ursim"
 TEST_RUN=false
 
-# TODO: Add support for more URSim PolyScopeX versions once released
-# The PolyScopeX URSim containers follow the SDK versioning scheme. This maps those to marketing
-# versions
-declare -Ag POLYSCOPE_X_MAP=( ["10.7.0"]="0.12.159"
-                              ["10.8.0"]="0.13.124"
-                              ["10.9.0"]="0.14.47")
-
 help()
 {
   # Display Help
@@ -205,8 +198,8 @@ validate_parameters()
       fi
       ;;
     polyscopex)
-      if [[ ! "${POLYSCOPE_X_MAP[${URSIM_VERSION_CHECK}]+_}" ]]; then
-        echo "URSim version $URSIM_VERSION_CHECK is unfortunately not supported"
+      if ! verlte "$MIN_POLYSCOPE_X" "$URSIM_VERSION_CHECK"; then
+        echo "PolyscopeX is only supported from version $MIN_POLYSCOPE_X onwards"
         exit 1
       fi
       if [[ $ROBOT_MODEL != @(ur3e|ur5e|ur7e|ur10e|ur12e|ur16e|ur15|ur20|ur30) ]]; then
@@ -285,7 +278,7 @@ get_download_url_urcap()
 post_setup_polyscopex()
 {
 
-  if [[ "$URSIM_VERSION" == "${POLYSCOPE_X_MAP[10.7.0]}" ]]; then
+  if [[ "$URSIM_VERSION" == "10.7.0" ]]; then
     get_download_url_urcapx 0.1.0
   else
     get_download_url_urcapx latest
@@ -434,7 +427,6 @@ main() {
   DOCKER_ARGS=""
 
   if [ "$ROBOT_SERIES" == "polyscopex" ]; then
-    URSIM_VERSION=${POLYSCOPE_X_MAP[$URSIM_VERSION]}
     DOCKER_ARGS="$DOCKER_ARGS --privileged"
   fi
 
@@ -456,7 +448,7 @@ main() {
     PROGRAM_STORAGE=$(realpath "$PROGRAM_STORAGE")
 
     ROBOT_MODEL_CONTROLLER_FLAG=""
-    verlte "${POLYSCOPE_X_MAP[10.7.0]}" "$URSIM_VERSION" && verlte "$URSIM_VERSION" "${POLYSCOPE_X_MAP[10.8.0]}" && ROBOT_MODEL_CONTROLLER_FLAG="-e ROBOT_TYPE_CONTROLLER=${ROBOT_MODEL}"
+    verlte "10.7.0" "$URSIM_VERSION" && verlte "$URSIM_VERSION" "10.8.0" && ROBOT_MODEL_CONTROLLER_FLAG="-e ROBOT_TYPE_CONTROLLER=${ROBOT_MODEL}"
 
     docker_cmd="docker run --rm -d \
       --net ursim_net --ip $IP_ADDRESS \
diff --git a/tests/test_start_ursim.bats b/tests/test_start_ursim.bats
index 7bf157485..672460e10 100644
--- a/tests/test_start_ursim.bats
+++ b/tests/test_start_ursim.bats
@@ -1,4 +1,5 @@
 setup_file() {
+  echo "Pulling latest URSim Docker images for CB3 and PolyScope 5"
   docker pull universalrobots/ursim_cb3:latest
   docker pull universalrobots/ursim_e-series:latest
 }
@@ -261,14 +262,6 @@ setup() {
   [ $status -eq 1 ]
 }
 
-@test "docker image polyscopex" {
-  run main -v 10.7.0 -t
-  echo "$output"
-  image=$(echo "$output" | tail -n1 | awk '{ print $NF }')
-  [ $status -eq 0 ]
-  [ "$image" == "universalrobots/ursim_polyscopex:0.12.159" ]
-}
-
 @test "docker image cb3 latest" {
   run main -m ur3 -t
   echo "$output"