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installURToolbox.m
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function installURToolbox(replaceExisting)
% INSTALLURTOOLBOX installs UR Toolbox for MATLAB.
% INSTALLURTOOLBOX installs UR Toolbox into the following
% locations:
% Source: Destination
% URToolboxFunctions: matlabroot\toolbox\ur
% URToolboxSupport: matlabroot\toolbox\ur\OptiTrackToolboxSupport
%
% INSTALLURTOOLBOX(true) installs UR Toolbox regardless of
% whether a copy of the UR toolbox exists in the MATLAB root.
%
% INSTALLURTOOLBOX(false) installs UR Toolbox only if no copy
% of the UR toolbox exists in the MATLAB root.
%
% M. Kutzer 17Feb2016, USNA
% Updates
% 19Dec2016 - Added genpath to include all simulation components in the
% path.
% 15Mar2018 - Updated to include try/catch for required toolbox
% installations and include msgbox warning when download
% fails.
% 08Jan2021 - Updated ToolboxUpdate
% 08Jan2021 - Updated action cancelled when python is not installed
% TODO - Allow users to create a local version if admin rights are not
% possible.
%% Define support toolboxes
supportToolboxes = {...
'URSimulation'};
%% Assign tool/toolbox specific parameters
dirName = 'ur';
%% Check inputs
if nargin == 0
replaceExisting = [];
end
%% Installation error solution(s)
adminSolution = sprintf(...
['Possible solution:\n',...
'\t(1) Close current instance of MATLAB\n',...
'\t(2) Open a new instance of MATLAB "as administrator"\n',...
'\t\t(a) Locate MATLAB shortcut\n',...
'\t\t(b) Right click\n',...
'\t\t(c) Select "Run as administrator"\n']);
%% Check for toolbox directory
toolboxRoot = fullfile(matlabroot,'toolbox',dirName);
isToolbox = exist(toolboxRoot,'file');
if isToolbox == 7
% Apply replaceExisting argument
if isempty(replaceExisting)
choice = questdlg(sprintf(...
['MATLAB Root already contains the UR Toolbox.\n',...
'Would you like to replace the existing toolbox?']),...
'Replace Existing Universal Robot Toolbox','Yes','No','Cancel','Yes');
elseif replaceExisting
choice = 'Yes';
else
choice = 'No';
end
% Replace existing or cancel installation
switch choice
case 'Yes'
rmpath(toolboxRoot);
warning off
[isRemoved, msg, msgID] = rmdir(toolboxRoot,'s');
warning on
if isRemoved
fprintf('Previous version of UR Toolbox removed successfully.\n');
else
fprintf('Failed to remove old UR Toolbox folder:\n\t"%s"\n',toolboxRoot);
fprintf(adminSolution);
error(msgID,msg);
end
case 'No'
fprintf('UR Toolbox currently exists, installation cancelled.\n');
return
case 'Cancel'
fprintf('Action cancelled.\n');
return
otherwise
error('Unexpected response.');
end
end
%% Create Toolbox Path
[isDir,msg,msgID] = mkdir(toolboxRoot);
if isDir
fprintf('UR toolbox folder created successfully:\n\t"%s"\n',toolboxRoot);
else
fprintf('Failed to create UR Toolbox folder:\n\t"%s"\n',toolboxRoot);
fprintf(adminSolution);
error(msgID,msg);
end
%% Migrate toolbox folder contents
toolboxContent = 'URToolboxFunctions';
if ~isdir(toolboxContent)
error(sprintf(...
['Change your working directory to the location of "installURToolbox.m".\n',...
'\n',...
'If this problem persists:\n',...
'\t(1) Unzip your original download of "URToolbox" into a new directory\n',...
'\t(2) Open a new instance of MATLAB "as administrator"\n',...
'\t\t(a) Locate MATLAB shortcut\n',...
'\t\t(b) Right click\n',...
'\t\t(c) Select "Run as administrator"\n',...
'\t(3) Change your "working directory" to the location of "installURToolbox.m"\n',...
'\t(4) Enter "installURToolbox" (without quotes) into the command window\n',...
'\t(5) Press Enter.']));
end
files = dir(toolboxContent);
wb = waitbar(0,'Copying UR Toolbox toolbox contents...');
n = numel(files);
fprintf('Copying UR Toolbox contents:\n');
for i = 1:n
% source file location
source = fullfile(toolboxContent,files(i).name);
% destination location
destination = toolboxRoot;
if files(i).isdir
switch files(i).name
case '.'
%Ignore
case '..'
%Ignore
otherwise
fprintf('\t%s...',files(i).name);
nDestination = fullfile(destination,files(i).name);
[isDir,msg,msgID] = mkdir(nDestination);
if isDir
[isCopy,msg,msgID] = copyfile(source,nDestination,'f');
if isCopy
fprintf('[Complete]\n');
else
bin = msg == char(10);
msg(bin) = [];
bin = msg == char(13);
msg(bin) = [];
fprintf('[Failed: "%s"]\n',msg);
end
else
bin = msg == char(10);
msg(bin) = [];
bin = msg == char(13);
msg(bin) = [];
fprintf('[Failed: "%s"]\n',msg);
end
end
else
fprintf('\t%s...',files(i).name);
[isCopy,msg,msgID] = copyfile(source,destination,'f');
if isCopy == 1
fprintf('[Complete]\n');
else
bin = msg == char(10);
msg(bin) = [];
bin = msg == char(13);
msg(bin) = [];
fprintf('[Failed: "%s"]\n',msg);
end
end
waitbar(i/n,wb);
end
set(wb,'Visible','off');
%% Migrate toolbox support folder
% TODO - search for python directory and prompt user to find the correct
% one...
if exist('C:\Python34\Lib','dir') ~= 7
% Python 3.4 is not installed in the standard directory
fprintf(2,'Python 3.4.4 was not found in the standard directory.\n');
pythonRoot = uigetdir('', 'Select Python 3.4.4 "Lib" directory.');
else
pythonRoot = fullfile('C:\Python34\Lib');
end
toolboxContent = 'URToolboxSupport';
if ~isdir(toolboxContent)
error(sprintf(...
['Change your working directory to the location of "installURToolbox.m".\n',...
'\n',...
'If this problem persists:\n',...
'\t(1) Unzip your original download of "URToolbox" into a new directory\n',...
'\t(2) Open a new instance of MATLAB "as administrator"\n',...
'\t\t(a) Locate MATLAB shortcut\n',...
'\t\t(b) Right click\n',...
'\t\t(c) Select "Run as administrator"\n',...
'\t(3) Change your "working directory" to the location of "installURToolbox.m"\n',...
'\t(4) Enter "installURToolbox" (without quotes) into the command window\n',...
'\t(5) Press Enter.']));
end
files = dir(toolboxContent);
if numel(pythonRoot) == 1 && pythonRoot == 0
fprintf(2,' -> ACTION CANCELLED\n');
fprintf(2,['',...
'\tNOTE: All simulation and kinematic functions should be fully\n',...
'\tinstalled. You will not be able to interact with UR hardware\n',...
'\tuntil Python 3.4.4 is successfully installed. Please install\n',...
'\tPython and run installURToolbox again.\n']);
else
wb = waitbar(0,'Copying UR Toolbox toolbox contents...');
n = numel(files);
fprintf('Copying UR Toolbox contents:\n');
for i = 1:n
% source file location
source = fullfile(toolboxContent,files(i).name);
% destination location
destination = pythonRoot;
if files(i).isdir
switch files(i).name
case '.'
%Ignore
case '..'
%Ignore
otherwise
fprintf('\t%s...',files(i).name);
nDestination = fullfile(destination,files(i).name);
[isDir,msg,msgID] = mkdir(nDestination);
if isDir
[isCopy,msg,msgID] = copyfile(source,nDestination,'f');
if isCopy
fprintf('[Complete]\n');
else
bin = msg == char(10);
msg(bin) = [];
bin = msg == char(13);
msg(bin) = [];
fprintf('[Failed: "%s"]\n',msg);
end
else
bin = msg == char(10);
msg(bin) = [];
bin = msg == char(13);
msg(bin) = [];
fprintf('[Failed: "%s"]\n',msg);
end
end
else
fprintf('\t%s...',files(i).name);
if all( destination == 0 )
% Ignore cancelled operation...
isCopy = false;
else
[isCopy,msg,msgID] = copyfile(source,destination,'f');
end
if isCopy == 1
fprintf('[Complete]\n');
else
bin = msg == char(10);
msg(bin) = [];
bin = msg == char(13);
msg(bin) = [];
fprintf('[Failed: "%s"]\n',msg);
end
end
waitbar(i/n,wb);
end
set(wb,'Visible','off');
end
%% Save toolbox path
addpath(genpath(toolboxRoot),'-end');
%addpath(toolboxRoot,'-end');
savepath;
%% Rehash toolbox cache
fprintf('Rehashing Toolbox Cache...');
rehash TOOLBOXCACHE
fprintf('[Complete]\n');
%% Install Python Modules
% TODO - error check!
if numel(pythonRoot) == 1 && pythonRoot == 0
% ACTION CANCELLED
else
fprintf('Installing necessary Python modules...');
try
installModule = py.importlib.import_module('URModulesInstall');
installModule.installURModules();
fprintf('[Complete]\n');
catch ME
fprintf('[Failed]\n')
fprintf(2,'ERROR MESSAGE:\n\t%s\n\n',ME.message);
fprintf(2,'Failed to install necessary Python modules. To install manually:\n')
fprintf(2,'\t - Open the Command Prompt,\n');
fprintf(2,'\t - Switch to the Python 3.4 Scripts directory\n');
fprintf(2,'\t\t run "cd C:\\Python34\\Scripts"\n');
fprintf(2,'\t - Install the math3D module\n');
fprintf(2,'\t\t run "pip install math3d"\n');
fprintf(2,'\t - Install the numpy module\n');
fprintf(2,'\t\t run "pip install numpy"\n');
fprintf(2,'\t - Install the urx module\n');
fprintf(2,'\t\t run "pip install urx"\n');
end
end
%% Install/Update required toolboxes
for i = 1:numel(supportToolboxes)
ToolboxUpdate( supportToolboxes{i} );
end
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%% TOOLBOX UPDATE
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 26Mar2021
function ToolboxUpdate(toolboxName)
%% Setup functions
ToolboxVer = str2func( sprintf('%sToolboxVer',toolboxName) );
installToolbox = str2func( sprintf('install%sToolbox',toolboxName) );
%% Check current version
try
A = ToolboxVer;
catch ME
A = [];
fprintf('No previous version of %s detected.\n',toolboxName);
end
%% Setup temporary file directory
% TODO - check "ok"
fprintf('Creating %s Toolbox temporary directory...',toolboxName);
tmpFolder = sprintf('%sToolbox',toolboxName);
pname = fullfile(tempdir,tmpFolder);
if isfolder(pname)
% Remove existing directory
[ok,msg] = rmdir(pname,'s');
end
% Create new directory
[ok,msg] = mkdir(tempdir,tmpFolder);
fprintf('SUCCESS\n');
%% Download and unzip toolbox (GitHub)
%url = sprintf('https://github.com/kutzer/%sToolbox/archive/master.zip',toolboxName); <--- Github removed references to "master"
%url = sprintf('https://github.com/kutzer/%sToolbox/archive/refs/heads/main.zip',toolboxName);
% Check possible branches
defBranches = {'master','main'};
for i = 1:numel(defBranches)
% Check default branch
defBranch = defBranches{i};
url = sprintf('https://github.com/kutzer/%sToolbox/archive/refs/heads/%s.zip',...
toolboxName,defBranch);
% Check url
[~,status] = urlread(url);
fprintf('Checking for branch "%s"...',defBranch);
if status
fprintf('FOUND\n');
break
else
fprintf('INVALID\n');
end
end
% Download and unzip repository
fprintf('Downloading the %s Toolbox...',toolboxName);
try
%fnames = unzip(url,pname);
%urlwrite(url,fullfile(pname,tmpFname));
tmpFname = sprintf('%sToolbox-master.zip',toolboxName);
websave(fullfile(pname,tmpFname),url);
fnames = unzip(fullfile(pname,tmpFname),pname);
delete(fullfile(pname,tmpFname));
fprintf('SUCCESS\n');
confirm = true;
catch ME
fprintf('FAILED\n');
confirm = false;
fprintf(2,'ERROR MESSAGE:\n\t%s\n',ME.message);
end
%% Check for successful download
alternativeInstallMsg = [...
sprintf('Manually download the %s Toolbox using the following link:\n',toolboxName),...
newline,...
sprintf('%s\n',url),...
newline,...
sprintf('Once the file is downloaded:\n'),...
sprintf('\t(1) Unzip your download of the "%sToolbox"\n',toolboxName),...
sprintf('\t(2) Change your "working directory" to the location of "install%sToolbox.m"\n',toolboxName),...
sprintf('\t(3) Enter "install%sToolbox" (without quotes) into the command window\n',toolboxName),...
sprintf('\t(4) Press Enter.')];
if ~confirm
warning('InstallToolbox:FailedDownload','Failed to download updated version of %s Toolbox.',toolboxName);
fprintf(2,'\n%s\n',alternativeInstallMsg);
msgbox(alternativeInstallMsg, sprintf('Failed to download %s Toolbox',toolboxName),'warn');
return
end
%% Find base directory
install_pos = strfind(fnames, sprintf('install%sToolbox.m',toolboxName) );
sIdx = cell2mat( install_pos );
cIdx = ~cell2mat( cellfun(@isempty,install_pos,'UniformOutput',0) );
pname_star = fnames{cIdx}(1:sIdx-1);
%% Get current directory and temporarily change path
cpath = cd;
cd(pname_star);
%% Install Toolbox
installToolbox(true);
%% Move back to current directory and remove temp file
cd(cpath);
[ok,msg] = rmdir(pname,'s');
if ~ok
warning('Unable to remove temporary download folder. %s',msg);
end
%% Complete installation
fprintf('Installation complete.\n');
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%% END TOOLBOX UPDATE
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%