From 0289bf43b8740177ee0903b2f0228f152faded03 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Sun, 25 Feb 2024 20:37:38 +0000
Subject: [PATCH] Imported upstream version '1.3.5' of 'upstream'

---
 .clang-format                            |  1 -
 CHANGELOG.rst                            |  8 ++++++++
 include/ur_client_library/ur/datatypes.h |  1 +
 package.xml                              |  2 +-
 scripts/start_ursim.sh                   | 18 +++++++++++++++---
 5 files changed, 25 insertions(+), 5 deletions(-)

diff --git a/.clang-format b/.clang-format
index ce2768a..fd96166 100644
--- a/.clang-format
+++ b/.clang-format
@@ -8,7 +8,6 @@ AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index cf4f07e..c533cd1 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package ur_client_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.5 (2024-02-23)
+------------------
+* Add support for UR30 in start_ursim.sh (`#193 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/193>`_)
+* Add header guard to datatypes.h (`#189 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/189>`_)
+* Remove duplicated entry in clang-format file (`#188 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/188>`_)
+* Wait after docker kill to prevent name conflicts (`#187 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/187>`_)
+* Contributors: Felix Exner, Robert Wilbrandt
+
 1.3.4 (2023-09-22)
 ------------------
 * Make depreaction warning for keepalive_counter a warning instead of error (`#182 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/182>`_)
diff --git a/include/ur_client_library/ur/datatypes.h b/include/ur_client_library/ur/datatypes.h
index 19f8b5d..a928e0f 100644
--- a/include/ur_client_library/ur/datatypes.h
+++ b/include/ur_client_library/ur/datatypes.h
@@ -26,6 +26,7 @@
  *
  */
 //----------------------------------------------------------------------
+#pragma once
 
 #include <ur_client_library/types.h>
 
diff --git a/package.xml b/package.xml
index 0a4b793..a90c23e 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_client_library</name>
-  <version>1.3.4</version>
+  <version>1.3.5</version>
   <description>Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver.</description>
   <author>Thomas Timm Andersen</author>
   <author>Simon Rasmussen</author>
diff --git a/scripts/start_ursim.sh b/scripts/start_ursim.sh
index 6f9a233..349e430 100755
--- a/scripts/start_ursim.sh
+++ b/scripts/start_ursim.sh
@@ -38,7 +38,7 @@ help()
   echo
   echo "Syntax: `basename "$0"` [-m|s|h]"
   echo "options:"
-  echo "    -m <model>     Robot model. One of [ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20]. Defaults to ur5e."
+  echo "    -m <model>     Robot model. One of [ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20, ur30]. Defaults to ur5e."
   echo "    -v <version>   URSim version that should be used.
                    See https://hub.docker.com/r/universalrobots/ursim_e-series/tags
                    for available versions. Defaults to 'latest'"
@@ -71,7 +71,7 @@ validate_model()
       ROBOT_MODEL=$(echo ${ROBOT_MODEL:0:$((${#ROBOT_MODEL}-1))})
       ROBOT_SERIES=e-series
       ;;
-    ur20)
+    ur20|ur30)
       ROBOT_MODEL=${ROBOT_MODEL^^}
       ROBOT_SERIES=e-series
       ;;
@@ -93,6 +93,7 @@ validate_ursim_version()
   local MIN_CB3="3.14.3"
   local MIN_E_SERIES="5.9.4"
   local MIN_UR20="5.14.0"
+  local MIN_UR30="5.15.0"
 
   local MIN_VERSION="0.0"
 
@@ -107,6 +108,9 @@ validate_ursim_version()
       if [[ $ROBOT_MODEL == "UR20" ]]; then
           verlte $MIN_UR20 $URSIM_VERSION && return 0
           MIN_VERSION=$MIN_UR20
+      elif [[ $ROBOT_MODEL == "UR30" ]]; then
+          verlte $MIN_UR30 $URSIM_VERSION && return 0
+          MIN_VERSION=$MIN_UR30
       else
           verlte $MIN_E_SERIES $URSIM_VERSION && return 0
           MIN_VERSION=$MIN_E_SERIES
@@ -180,7 +184,15 @@ docker run --rm -d --net ursim_net --ip 192.168.56.101\
   --name ursim \
   universalrobots/ursim_${ROBOT_SERIES}:$URSIM_VERSION || exit
 
-trap "echo killing; docker container kill ursim; exit" SIGINT SIGTERM
+# Stop container when interrupted
+TRAP_CMD="
+echo \"killing ursim\";
+docker container kill ursim >> /dev/null;
+docker container wait ursim >> /dev/null;
+echo \"done\";
+exit
+"
+trap "$TRAP_CMD" SIGINT SIGTERM
 
 echo "Docker URSim is running"
 printf "\nTo access Polyscope, open the following URL in a web browser.\n\thttp://192.168.56.101:6080/vnc.html\n\n"