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Probe container's IP and forwarded IP for urcap endpoint #614

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b6005f4
Probe container's IP and forwarded IP for urcaps endpoint
urfeex Nov 3, 2026
e144383
Fix conditional check and cleanup for Docker container
urfeex Nov 3, 2026
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59 changes: 42 additions & 17 deletions scripts/start_ursim.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -404,27 +404,46 @@ post_setup_polyscopex()
curl -L -o "$urcapx_file" "$URCAPX_DOWNLOAD_URL"
fi

# Prefer a published host mapping for HTTP (needed on Docker Desktop / NAT where the
# container IP is unreachable). Fall back to the container IP when nothing is published.
local forwarded_endpoint http_host
if forwarded_endpoint=$(get_forwarded_access_endpoint 80); then
http_host="$forwarded_endpoint"
else
http_host="$IP_ADDRESS"
# UrService is reachable on the container IP from another container on ursim_net
# (CI). A published host port is required on Docker Desktop, where that IP is
# not routed. Probe both, and install the URCap through whichever answers.

@cursor cursor Bot Nov 3, 2026

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PR title needs grammar fixes

Low Severity

The PR title is missing articles and uses urcap instead of URCap. A clearer wording is Probe the container IP and forwarded IP for the URCap endpoint.

Fix in Cursor Fix in Web

Triggered by team rule: PR title

Reviewed by Cursor Bugbot for commit e144383. Configure here.

local forwarded_endpoint=""
forwarded_endpoint=$(get_forwarded_access_endpoint 80) || forwarded_endpoint=""
local -a base_urls=("http://${IP_ADDRESS}")
if [[ -n "$forwarded_endpoint" ]]; then
base_urls+=("http://${forwarded_endpoint}")
fi
local base_url="http://${http_host}"
local urcaps_url="${base_url}/universal-robots/urservice/api/v1/urcaps"
local urcaps_path="/universal-robots/urservice/api/v1/urcaps"
# Overall wait for UrService. Override with URSIM_URSERVICE_TIMEOUT (seconds).
local urservice_timeout="${URSIM_URSERVICE_TIMEOUT:-300}"
local urcaps_url=""
local base status_code
local deadline=$((SECONDS + urservice_timeout))

echo -ne "Starting URSim. Waiting for UrService to be up..."
status_code=$(curl --retry-connrefused -f --write-out "%{http_code}" --silent --output /dev/null "$urcaps_url")

until [ "$status_code" == "200" ]
do
sleep 1
echo -ne "."
status_code=$(curl --retry-connrefused -f --write-out "%{http_code}" --silent --output /dev/null "$urcaps_url")
while [[ -z "$urcaps_url" && "$SECONDS" -lt "$deadline" ]]; do
for base in "${base_urls[@]}"; do
status_code=$(
curl --connect-timeout 2 --max-time 5 --silent --output /dev/null \
--write-out "%{http_code}" "${base}${urcaps_path}" || true
)
if [[ "$status_code" == "200" ]]; then
urcaps_url="${base}${urcaps_path}"
break
fi
done
if [[ -z "$urcaps_url" ]]; then
sleep 1
echo -ne "."
fi
done

if [[ -z "$urcaps_url" ]]; then
echo ""
echo "Timed out after ${urservice_timeout}s waiting for UrService. Tried: ${base_urls[*]}"
return 1
fi

echo ""; echo "UrService is up"

echo "Installing URCapX $urcapx_file"
Expand Down Expand Up @@ -666,7 +685,13 @@ main() {
trap "$TRAP_CMD" SIGINT SIGTERM


eval "post_setup_${ROBOT_SERIES}"
if ! "post_setup_${ROBOT_SERIES}"; then
if [ "$DETACHED" = false ]; then
docker container kill "$CONTAINER_NAME" > /dev/null 2>&1 || true
docker container wait "$CONTAINER_NAME" > /dev/null 2>&1 || true
fi
exit 1
fi

if [ "$DETACHED" = false ]; then
echo "To exit, press CTRL+C"
Expand Down
62 changes: 60 additions & 2 deletions tests/test_start_ursim.bats
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Original file line number Diff line number Diff line change
Expand Up @@ -981,7 +981,7 @@ stub_docker_port() {
[[ "$output" != *"Access PolyScope X: http://192."* ]]
}

@test "post_setup_polyscopex uses forwarded endpoint for http calls" {
@test "post_setup_polyscopex uses container IP for http calls when it responds" {
IP_ADDRESS="192.168.56.101"
CONTAINER_NAME="ursim"
DOCKER_PORT_MAP='80=127.0.0.1:8000'
Expand All @@ -1000,15 +1000,73 @@ stub_docker_port() {
touch "$URCAP_STORAGE/external-control-0.0.0.urcapx"
URSIM_VERSION="10.8.0"

run post_setup_polyscopex
echo "$output"
echo "curl log:"; cat "$CURL_LOG"
[ "$status" -eq 0 ]
grep -F "http://192.168.56.101/universal-robots/urservice/api/v1/urcaps" "$CURL_LOG"
! grep -F "http://127.0.0.1:8000/universal-robots/urservice/api/v1/urcaps" "$CURL_LOG"
rm -f "$CURL_LOG"
}

@test "post_setup_polyscopex uses forwarded endpoint when container IP is unreachable" {
IP_ADDRESS="192.168.56.101"
CONTAINER_NAME="ursim"
DOCKER_PORT_MAP='80=127.0.0.1:8000'
stub_docker_port
get_download_url_urcapx() { URCAPX_VERSION="0.0.0"; URCAPX_DOWNLOAD_URL=""; }
CURL_LOG=$(mktemp)
curl() {
printf '%s\n' "$*" >> "$CURL_LOG"
if [[ "$*" == *"--form"* ]]; then
return 0
fi
if [[ "$*" == *"http://192.168.56.101/universal-robots/urservice/api/v1/urcaps"* ]]; then
echo "000"
return 7
fi
echo "200"
}
URCAP_STORAGE=/tmp/ursim-test-urcaps-post-setup
mkdir -p "$URCAP_STORAGE"
touch "$URCAP_STORAGE/external-control-0.0.0.urcapx"
URSIM_VERSION="10.8.0"

run post_setup_polyscopex
echo "$output"
echo "curl log:"; cat "$CURL_LOG"
[ "$status" -eq 0 ]
grep -F "http://127.0.0.1:8000/universal-robots/urservice/api/v1/urcaps" "$CURL_LOG"
! grep -F "http://192.168.56.101/universal-robots/urservice/api/v1/urcaps" "$CURL_LOG"
rm -f "$CURL_LOG"
}

@test "post_setup_polyscopex times out when UrService does not respond" {
IP_ADDRESS="192.168.56.101"
CONTAINER_NAME="ursim"
DOCKER_PORT_MAP='80=127.0.0.1:8000'
stub_docker_port
get_download_url_urcapx() { URCAPX_VERSION="0.0.0"; URCAPX_DOWNLOAD_URL=""; }
curl() {
if [[ "$*" == *"--form"* ]]; then
return 0
fi
echo "000"
return 7
}
URCAP_STORAGE=/tmp/ursim-test-urcaps-post-setup
mkdir -p "$URCAP_STORAGE"
touch "$URCAP_STORAGE/external-control-0.0.0.urcapx"
URSIM_VERSION="10.8.0"
URSIM_URSERVICE_TIMEOUT=1

run post_setup_polyscopex
echo "$output"
[ "$status" -ne 0 ]
[[ "$output" == *"Timed out after 1s waiting for UrService."* ]]
[[ "$output" == *"http://192.168.56.101"* ]]
[[ "$output" == *"http://127.0.0.1:8000"* ]]
}

@test "post_setup_polyscopex falls back to IP_ADDRESS for http calls when unpublished" {
IP_ADDRESS="192.168.56.101"
CONTAINER_NAME="ursim"
Expand Down
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