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################################################################################
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# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot     #
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# (AMiRo) platform.                                                            #
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# Copyright (C) 2016..2020  Thomas Schöpping et al.                            #
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#                                                                              #
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# This program is free software: you can redistribute it and/or modify         #
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# it under the terms of the GNU General Public License as published by         #
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# the Free Software Foundation, either version 3 of the License, or            #
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# (at your option) any later version.                                          #
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#                                                                              #
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# This program is distributed in the hope that it will be useful,              #
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# but WITHOUT ANY WARRANTY; without even the implied warranty of               #
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                #
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# GNU General Public License for more details.                                 #
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#                                                                              #
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# You should have received a copy of the GNU General Public License            #
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# along with this program.  If not, see <http://www.gnu.org/licenses/>.        #
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#                                                                              #
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# This research/work was supported by the Cluster of Excellence Cognitive      #
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# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #
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# funded by the German Research Foundation (DFG).                              #
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################################################################################
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### print an error message #####################################################
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# Prints a error <message> to standard output.
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#If variable 'LOG_FILE' is specified, the message is also appended to the given file.
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#
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# usage:      printError <message>
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# arguments:  <message>
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#                 Message string to print.
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# return:     n/a
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#
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function printError {
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  local string="ERROR:   $1"
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  # if a log file is specified
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  if [ -n "$LOG_FILE" ]; then
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    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE
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  fi
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  printf "$(tput setaf 1)>>> $string$(tput sgr 0)" 1>&2
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}
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### print a warning message ####################################################
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# Prints a warning <message> to standard output.
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#If variable 'LOG_FILE' is specified, the message is also appended to the given file.
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#
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# usage:      printMessage <message>
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# arguments:  <message>
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#                 Message string to print.
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# return:     n/a
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#
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function printWarning {
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  local string="WARNING: $1"
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  # if a log file is specified
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  if [ -n "$LOG_FILE" ]; then
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    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE
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  fi
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  printf "$(tput setaf 3)>>> $string$(tput sgr 0)"
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}
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### print an information message ###############################################
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# Prints an information <message> to standard output.
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#If variable 'LOG_FILE' is specified, the message is also appended to the given file.
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#
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# usage:      printInfo <message>
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# arguments:  <message>
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#                 Message string to print.
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# return:     n/a
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#
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function printInfo {
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  local string="INFO:    $1"
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  # if a log file is specified
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  if [ -n "$LOG_FILE" ]; then
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    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE
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  fi
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  printf "$(tput setaf 2)>>> $string$(tput sgr 0)"
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}
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### print a message to file ####################################################
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# Appends a <message> to a log file, specified by the variable 'LOG_FILE'.
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#
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# usage       printLog <message>
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# arguments:  <message>
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#                 Message string to print.
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# return:     n/a
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#
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function printLog {
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  local string="LOG:     $1"
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  # if a log file is specified
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  if [ -n "$LOG_FILE" ]; then
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    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE
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  fi
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}
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### exit the script normally ###################################################
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# Prints a delimiter and exits the script normally (returns 0).
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#
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# usage:      quitScript
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# arguments:  n/a
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# return:     0
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#                 No error or warning occurred.
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#
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function quitScript {
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  if [ ! -z ${BASH_SOURCE[1]} ]; then
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    printInfo "exiting $(realpath --relative-to="${PWD}" "${BASH_SOURCE[1]}")\n"
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    printf "\n"
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  fi
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  printf "######################################################################\n"
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  exit 0
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}
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### read a user input ##########################################################
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# Reads a single character user input from a set up <options> and stores it in
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# a given <return> variable.
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#
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# usage:      readUserInput <options> <return>
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# arguments:  <options>
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#                 String definiing the set of valid characters.
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#                 If the string is empty, the user can input any character.
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#             <return>
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#                 Variable to store the selected character to.
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# return:     n/a
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#
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function readUserInput {
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  local input=""
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  # read user input
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  while [ -z "$input" ] || ( [ -n "$1" ] && [[ ! $input =~ ^[$1]$ ]] ); do
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    read -p "your selection: " -n 1 -e input
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    if [ -z "$input" ] || ( [ -n "$1" ] && [[ ! $input =~ ^[$1]$ ]] ); then
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      printWarning "[$input] is no valid action\n"
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    fi
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  done
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  printLog "[$input] has been selected\n"
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  eval $2="$input"
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}
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### check whether argument is an option ########################################
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# Checks a <string> whether it is an option.
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# Options are defined to either start with '--' followed by any string, or
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# to start with a single '-' followed by a single character, or
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# to start with a single '-' followed by a single character, a '=' and any string.
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# Examples: '--option', '--option=arg', '-o', '-o=arg', '--'
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#
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# usage:      parseIsOption <string>
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# arguments:  <string>
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#                 A string to check whether it is an option.
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# return:     0
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#                 <string> is an option.
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#             -1
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#                 <string> is not an option.
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#
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function parseIsOption {
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  if [[ "$1" =~ ^-(.$|.=.*) ]] || [[ "$1" =~ ^--.* ]]; then
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    return 0
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  else
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    return -1
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  fi
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}
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### set the log file ###########################################################
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# Sets a specified <infile> as log file and checks whether it already exists.
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# If so, the log may either be appended to the file, its content can be cleared,
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# or no log is generated at all.
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# The resulting path is stored in <outvar>.
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#
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# usage:      setLogFile [--option=<option>] [--quiet] <infile> <outvar>
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# arguments:  --option=<option>
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#                 Select what to do if <file> already exists.
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#                 Possible values are 'a', 'c', 'r' and 'n'.
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#                 - a: append (starts with a separator)
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#                 - c: continue (does not insert a seperator)
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#                 - r: delete and restart
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#                 - n: no log
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#                 If no option is secified but <file> exists, an interactive selection is provided.
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#             --quiet
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#                 Suppress all messages.
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#             <infile>
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#                 Path of the wanted log file.
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#             <outvar>
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#                 Variable to store the path of the log file to.
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# return:     0
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#                 No error or warning occurred.
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#             -1
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#                 Error: invalid input
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#
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function setLogFile {
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  local filepath=""
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  local option=""
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  local quiet=false
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  # parse arguments
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  local otherargs=()
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  while [ $# -gt 0 ]; do
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    if ( parseIsOption $1 ); then
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      case "$1" in
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        -o=*|--option=*)
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          option=${1#*=}; shift 1;;
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        -o*|--option*)
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          option="$2"; shift 2;;
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        -q|--quiet)
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          quiet=true; shift 1;;
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        *)
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          printError "invalid option: $1\n"; shift 1;;
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      esac
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    else
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      otherargs+=("$1")
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      shift 1
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    fi
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  done
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  filepath=$(realpath ${otherargs[0]})
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  # if file already exists
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  if [ -e $filepath ]; then
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    # if no option was specified, ask what to do
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    if [ -z "$option" ]; then
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      printWarning "log file $filepath already esists\n"
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      local userinput=""
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      printf "Select what to do:\n"
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      printf "  [A] - append log\n"
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      printf "  [R] - restart log (delete existing file)\n"
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      printf "  [N] - no log\n"
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      readUserInput "AaRrNn" userinput
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      option=${userinput,,}
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    fi
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    # evaluate option
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    case "$option" in
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      a|c)
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        if [ $quiet = false ]; then
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          printInfo "appending log to $filepath\n"
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        fi
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        if [ $option != c ]; then
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          printf "\n" >> $filepath
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          printf "######################################################################\n" >> $filepath
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          printf "\n" >> $filepath
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        fi
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        ;;
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      r)
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        echo -n "" > $filepath
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        if [ $quiet = false ]; then
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          printInfo "content of $filepath wiped\n"
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        fi
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        ;;
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      n)
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        if [ $quiet = false ]; then
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          printInfo "no log file will be generated\n"
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        fi
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        filepath=""
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        ;;
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      *) # sanity check (return error)
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        printError "unexpected argument: $option\n"; return -1;;
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    esac
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  else
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    if [ $quiet = false ]; then
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      printInfo "log file set to $filepath\n"
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    fi
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  fi
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  eval ${otherargs[1]}="$filepath"
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  return 0
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}
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### check whether commands are available #######################################
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# Checks whether the specified commands are available and can be executed.
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#
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# usage:      checkCommands [<command> <command> ...]
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# arguments:  <command>
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#                 Name of the command to check.
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# return:     0
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#                 All requested commands are available.
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#             >0
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#                 Number of requested commands that were not found.
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#             -1
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#                 No argument given.
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#
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function checkCommands {
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  local status=0
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  # return if no argument was specified
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  if [ $# -eq 0 ]; then
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    return -1
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  fi
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  # check all specified commands
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  while [ $# -gt 0 ]; do
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    command -v $1 &>/dev/null
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    if [ $? -ne 0 ]; then
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      printWarning "Command '$1' not available.\n"
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      status=$((status + 1))
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    fi
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    shift 1
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  done
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  return $status
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}