Remove SDK version mapping (#355)

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.

Author: urfeex

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 \

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"