AMiRo-OS

build

.dep

*.tmp

*.backup

# Eclipse files

*eclipse*

# QtCreator files

*.includes

*.files

*.config

*.creator

*.creator.user

# Shadow files

*kate-swp

*~

# Backup files

*backup*

*Backup*

[submodule "os/AMiRo-OS"]

	path = os/AMiRo-OS

	url = http://openresearch.cit-ec.de/git/amiro-os.amiro-os.git

[submodule "middleware/uRtWare"]

	path = middleware/uRtWare

	url = http://openresearch.cit-ec.de/git/amiro-os.urtware.git

AMiRo-Apps is a collection of applications and configurations for the Autonomous

Mini Robot (AMiRo) [1]. It is tightly coupled to the AMiRo-OS and uRtWare

projects, which provide a sophisticated operating system (based on ChibiOS) amd

a real-time middleware for embedded devices.

Copyright (C) 2018..2018  Thomas Schöpping et al.

(a complete list of all authors is given below)

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or (at

your option) any later version.

This program is distributed in the hope that it will be useful, but

WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

This research/work was supported by the Cluster of Excellence

Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld

University, which is funded by the German Research Foundation (DFG).

Authors:

 - Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>

 - Marc Rothmann

References:

 [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A

     modular & customizable open-source mini robot platform," 2016 20th

     International Conference on System Theory, Control and Computing (ICSTCC),

     Sinaia, 2016, pp. 687-692.

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################################################################################

This file will help you to setup all required software on your system, compile

the source code, and flash it to the AMiRo modules.

================================================================================

CONTENTS:

  1  Required software

  3  Building and flashing

================================================================================

1 - REQUIRED SOFTWARE

---------------------

Since AMiRo-Apps depends on the AMiRo-OS and uRtWare projects, both are included

as Git submodules. Use the provided ./setup.sh script to initialize those. When

AMiRo-OS is fully configured, there is no additional software required by

AMiRo-Apps. For further details about the initialization follow the instructions

in the script and refer to the README.txt file of AMiRo-OS and uRtWare

respectively.

2 - BUILDING AND FLASHING

-------------------------

For building and flashing a specific setup, you must first define a

configuration in the ./configurations folder (e.g. ./configurations/MyConf).

Such a configuration must consist of a Makefile and a C header file with the

name "osconf.h". Please copy the provided template files from the

./configurations/template directory and modify them as required in order to

minimize the risk of errors and for the sake of consistency. As a result you can

build and flash all software using the Makefile.

================================================================================

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you grant is automatically extended to all recipients of the covered

work and works based on it.</p>

<p>A patent license is “discriminatory” if it does not include within

the scope of its coverage, prohibits the exercise of, or is

conditioned on the non-exercise of one or more of the rights that are

specifically granted under this License.  You may not convey a covered

work if you are a party to an arrangement with a third party that is

in the business of distributing software, under which you make payment

to the third party based on the extent of your activity of conveying

the work, and under which the third party grants, to any of the

parties who would receive the covered work from you, a discriminatory

patent license (a) in connection with copies of the covered work

conveyed by you (or copies made from those copies), or (b) primarily

for and in connection with specific products or compilations that

contain the covered work, unless you entered into that arrangement,

or that patent license was granted, prior to 28 March 2007.</p>

<p>Nothing in this License shall be construed as excluding or limiting

any implied license or other defenses to infringement that may

otherwise be available to you under applicable patent law.</p>

<h4><a name="section12"></a>12. No Surrender of Others' Freedom.</h4>

<p>If conditions are imposed on you (whether by court order, agreement or

otherwise) that contradict the conditions of this License, they do not

excuse you from the conditions of this License.  If you cannot convey a

covered work so as to satisfy simultaneously your obligations under this

License and any other pertinent obligations, then as a consequence you may

not convey it at all.  For example, if you agree to terms that obligate you

to collect a royalty for further conveying from those to whom you convey

the Program, the only way you could satisfy both those terms and this

License would be to refrain entirely from conveying the Program.</p>

<h4><a name="section13"></a>13. Use with the GNU Affero General Public License.</h4>

<p>Notwithstanding any other provision of this License, you have

permission to link or combine any covered work with a work licensed

under version 3 of the GNU Affero General Public License into a single

combined work, and to convey the resulting work.  The terms of this

License will continue to apply to the part which is the covered work,

but the special requirements of the GNU Affero General Public License,

section 13, concerning interaction through a network will apply to the

combination as such.</p>

<h4><a name="section14"></a>14. Revised Versions of this License.</h4>

<p>The Free Software Foundation may publish revised and/or new versions of

the GNU General Public License from time to time.  Such new versions will

be similar in spirit to the present version, but may differ in detail to

address new problems or concerns.</p>

<p>Each version is given a distinguishing version number.  If the

Program specifies that a certain numbered version of the GNU General

Public License “or any later version” applies to it, you have the

option of following the terms and conditions either of that numbered

version or of any later version published by the Free Software

Foundation.  If the Program does not specify a version number of the

GNU General Public License, you may choose any version ever published

by the Free Software Foundation.</p>

<p>If the Program specifies that a proxy can decide which future

versions of the GNU General Public License can be used, that proxy's

public statement of acceptance of a version permanently authorizes you

to choose that version for the Program.</p>

<p>Later license versions may give you additional or different

permissions.  However, no additional obligations are imposed on any

author or copyright holder as a result of your choosing to follow a

later version.</p>

<h4><a name="section15"></a>15. Disclaimer of Warranty.</h4>

<p>THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY

APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT

HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY

OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,

THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR

PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM

IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF

ALL NECESSARY SERVICING, REPAIR OR CORRECTION.</p>

<h4><a name="section16"></a>16. Limitation of Liability.</h4>

<p>IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING

WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS

THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY

GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE

USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF

DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD

PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),

EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF

SUCH DAMAGES.</p>

<h4><a name="section17"></a>17. Interpretation of Sections 15 and 16.</h4>

<p>If the disclaimer of warranty and limitation of liability provided

above cannot be given local legal effect according to their terms,

reviewing courts shall apply local law that most closely approximates

an absolute waiver of all civil liability in connection with the

Program, unless a warranty or assumption of liability accompanies a

copy of the Program in return for a fee.</p>

<p>END OF TERMS AND CONDITIONS</p>

<h3><a name="howto"></a>How to Apply These Terms to Your New Programs</h3>

<p>If you develop a new program, and you want it to be of the greatest

possible use to the public, the best way to achieve this is to make it

free software which everyone can redistribute and change under these terms.</p>

<p>To do so, attach the following notices to the program.  It is safest

to attach them to the start of each source file to most effectively

state the exclusion of warranty; and each file should have at least

the “copyright” line and a pointer to where the full notice is found.</p>

<pre>    &lt;one line to give the program's name and a brief idea of what it does.&gt;

    Copyright (C) <year>  <name of author>

    This program is free software: you can redistribute it and/or modify

    it under the terms of the GNU General Public License as published by

    the Free Software Foundation, either version 3 of the License, or

    (at your option) any later version.

    This program is distributed in the hope that it will be useful,

    but WITHOUT ANY WARRANTY; without even the implied warranty of

    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License

    along with this program.  If not, see <http://www.gnu.org/licenses/>.

</pre>

<p>Also add information on how to contact you by electronic and paper mail.</p>

<p>If the program does terminal interaction, make it output a short

notice like this when it starts in an interactive mode:</p>

<pre>    &lt;program&gt;  Copyright (C) &lt;year&gt;  &lt;name of author&gt;

    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.

    This is free software, and you are welcome to redistribute it

    under certain conditions; type `show c' for details.

</pre>

<p>The hypothetical commands `show w' and `show c' should show the appropriate

parts of the General Public License.  Of course, your program's commands

might be different; for a GUI interface, you would use an “about box”.</p>

<p>You should also get your employer (if you work as a programmer) or school,

if any, to sign a “copyright disclaimer” for the program, if necessary.

For more information on this, and how to apply and follow the GNU GPL, see

&lt;<a href="http://www.gnu.org/licenses/">http://www.gnu.org/licenses/</a>&gt;.</p>

<p>The GNU General Public License does not permit incorporating your program

into proprietary programs.  If your program is a subroutine library, you

may consider it more useful to permit linking proprietary applications with

the library.  If this is what you want to do, use the GNU Lesser General

Public License instead of this License.  But first, please read

&lt;<a href="http://www.gnu.org/philosophy/why-not-lgpl.html">http://www.gnu.org/philosophy/why-not-lgpl.html</a>&gt;.</p>

</body></html>

################################################################################

# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot     #

# (AMiRo) platform.                                                            #

# Copyright (C) 2018..2018  Thomas Schöpping et al.                            #

#                                                                              #

# This program is free software: you can redistribute it and/or modify         #

# it under the terms of the GNU General Public License as published by         #

# the Free Software Foundation, either version 3 of the License, or            #

# (at your option) any later version.                                          #

#                                                                              #

# This program is distributed in the hope that it will be useful,              #

# but WITHOUT ANY WARRANTY; without even the implied warranty of               #

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                #

# GNU General Public License for more details.                                 #

#                                                                              #

# You should have received a copy of the GNU General Public License            #

# along with this program.  If not, see <http://www.gnu.org/licenses/>.        #

#                                                                              #

# This research/work was supported by the Cluster of Excellence Cognitive      #

# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #

# funded by the German Research Foundation (DFG).                              #

################################################################################

# absolute path to this directory

MIDDLEWARE_DIR := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))

include $(MIDDLEWARE_DIR)uRtWare/Makefile

# include paths

MIDDLEWAREINC = $(URTWARE_INC)

# C source files

MIDDLEWARECSRC = $(URTWARE_CSRC)

# C++ source files

MIDDLEWARECPPSRC = $(URTWARE_CPPSRC)

################################################################################

# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot     #

# (AMiRo) platform.                                                            #

# Copyright (C) 2018..2018  Thomas Schöpping et al.                            #

#                                                                              #

# This program is free software: you can redistribute it and/or modify         #

# it under the terms of the GNU General Public License as published by         #

# the Free Software Foundation, either version 3 of the License, or            #

# (at your option) any later version.                                          #

#                                                                              #

# This program is distributed in the hope that it will be useful,              #

# but WITHOUT ANY WARRANTY; without even the implied warranty of               #

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                #

# GNU General Public License for more details.                                 #

#                                                                              #

# You should have received a copy of the GNU General Public License            #

# along with this program.  If not, see <http://www.gnu.org/licenses/>.        #

#                                                                              #

# This research/work was supported by the Cluster of Excellence Cognitive      #

# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #

# funded by the German Research Foundation (DFG).                              #

################################################################################

#!/bin/bash

################################################################################

# GENERIC FUNCTIONS                                                            #

################################################################################

### print an error message #####################################################

# Prints a error <message> to standard output.

#If variable 'LOG_FILE' is specified, the message is also appended to the given file.

#

# usage:      printError <message>

# arguments:  <message>

#                 Message string to print.

# return:     n/a

#

function printError {

  local string="ERROR:   $1"

  # if a log file is specified

  if [ -n "$LOG_FILE" ]; then

    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE

  fi

  printf "$(tput setaf 1)>>> $string$(tput sgr 0)" 1>&2

}

### print a warning message ####################################################

# Prints a warning <message> to standard output.

#If variable 'LOG_FILE' is specified, the message is also appended to the given file.

#

# usage:      printMessage <message>

# arguments:  <message>

#                 Message string to print.

# return:     n/a

#

function printWarning {

  local string="WARNING: $1"

  # if a log file is specified

  if [ -n "$LOG_FILE" ]; then

    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE

  fi

  printf "$(tput setaf 3)>>> $string$(tput sgr 0)"

}

### print an information message ###############################################

# Prints an information <message> to standard output.

#If variable 'LOG_FILE' is specified, the message is also appended to the given file.

#

# usage:      printInfo <message>

# arguments:  <message>

#                 Message string to print.

# return:     n/a

#

function printInfo {

  local string="INFO:    $1"

  # if a log file is specified

  if [ -n "$LOG_FILE" ]; then

    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE

  fi

  printf "$(tput setaf 2)>>> $string$(tput sgr 0)"

}

### print a message to file ####################################################

# Appends a <message> to a log file, specified by the variable 'LOG_FILE'.

#

# usage       printLog <message>

# arguments:  <message>

#                 Message string to print.

# return:     n/a

#

function printLog {

  local string="LOG:     $1"

  # if a log file is specified

  if [ -n "$LOG_FILE" ]; then

    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE

  fi

}

### exit the script normally ###################################################

# Prints a delimiter and exits the script normally (returns 0).

#

# usage:      quitScript

# arguments:  n/a

# return:     0

#                 No error or warning occurred.

#

function quitScript {

  printInfo "exiting $(realpath ${BASH_SOURCE[0]})\n"

  printf "\n"

  printf "######################################################################\n"

  exit 0

}

### read a user input ##########################################################

# Reads a single character user input from a set up <options> and stores it in

# a given <return> variable.

#

# usage:      readUserInput <options> <return>

# arguments:  <options>

#                 String definiing the set of valid characters.

#                 If the string is empty, the user can input any character.

#             <return>

#                 Variable to store the selected character to.

# return:     n/a

#

function readUserInput {

  local input=""

  # read user input

  while [ -z $input ] || ( [ -n "$1" ] && [[ ! $input =~ ^[$1]$ ]] ); do

    read -p "your selection: " -n 1 -e input

    if [ -z $input ] || ( [ -n "$1" ] && [[ ! $input =~ ^[$1]$ ]] ); then

      printWarning "[$input] is no valid action\n"

    fi

  done

  printLog "[$input] has been selected\n"

  eval $2="$input"

}

### check whether argument is an option ########################################

# Checks a <string> whether it is an option.

# Options are defined to either start with '--' followed by any string, or

# to start with a single '-' followed by a single character, or

# to start with a single '-' followed by a single character, a '=' and any string.

# Examples: '--option', '--option=arg', '-o', '-o=arg', '--'

#

# usage:      parseIsOption <string>

# arguments:  <string>

#                 A string to check whether it is an option.

# return:     0

#                 <string> is an option.

#             -1

#                 <string> is not an option.

#

function parseIsOption {

  if [[ "$1" =~ ^-(.$|.=.*) ]] || [[ "$1" =~ ^--.* ]]; then

    return 0

  else

    return -1

  fi

}

### set the log file ###########################################################

# Sets a specified <infile> as log file and checks whether it already exists.

# If so, the log may either be appended to the file, its content can be cleared,

# or no log is generated at all.

# The resulting path is stored in <outvar>.

#

# usage:      setLogFile [--option=<option>] [--quiet] <infile> <outvar>

# arguments:  --option=<option>

#                 Select what to do if <file> already exists.

#                 Possible values are 'a', 'c', 'r' and 'n'.

#                 - a: append (starts with a separator)

#                 - c: continue (does not insert a seperator)

#                 - r: delete and restart

#                 - n: no log

#                 If no option is secified but <file> exists, an interactive selection is provided.

#             --quiet

#                 Suppress all messages.

#             <infile>

#                 Path of the wanted log file.

#             <outvar>

#                 Variable to store the path of the log file to.

# return:     0

#                 No error or warning occurred.

#             -1

#                 Error: invalid input

#

function setLogFile {

  local filepath=""

  local option=""

  local quiet=false

  # parse arguments

  local otherargs=()

  while [ $# -gt 0 ]; do

    if ( parseIsOption $1 ); then

      case "$1" in

        -o=*|--option=*)

          option=${1#*=}; shift 1;;

        -o*|--option*)

          option="$2"; shift 2;;

        -q|--quiet)

          quiet=true; shift 1;;

        *)

          printError "invalid option: $1\n"; shift 1;;

      esac

    else

      otherargs+=("$1")

      shift 1

    fi

  done

  filepath=$(realpath ${otherargs[0]})

  # if file already exists

  if [ -e $filepath ]; then

    # if no option was specified, ask what to do

    if [ -z "$option" ]; then

      printWarning "log file $filepath already esists\n"

      local userinput=""

      printf "Select what to do:\n"

      printf "  [A] - append log\n"

      printf "  [R] - restart log (delete existing file)\n"

      printf "  [N] - no log\n"

      readUserInput "AaRrNn" userinput

      option=${userinput,,}

    fi

    # evaluate option

    case "$option" in

      a|c)

        if [ $quiet = false ]; then

          printInfo "appending log to $filepath\n"

        fi

        if [ $option != c ]; then

          printf "\n" >> $filepath

          printf "######################################################################\n" >> $filepath

          printf "\n" >> $filepath

        fi

        ;;

      r)

        echo -n "" > $filepath

        if [ $quiet = false ]; then

          printInfo "content of $filepath wiped\n"

        fi

        ;;

      n)

        if [ $quiet = false ]; then

          printInfo "no log file will be generated\n"

        fi

        filepath=""

        ;;

      *) # sanity check (return error)

        printError "unexpected argument: $option\n"; return -1;;

    esac

  else

    if [ $quiet = false ]; then

      printInfo "log file set to $filepath\n"

    fi

  fi

  eval ${otherargs[1]}="$filepath"

  return 0

}

################################################################################

# SPECIFIC FUNCTIONS                                                           #

################################################################################

### print welcome text #########################################################

# Prints a welcome message to standard out.

#

# usage:      printWelcomeText

# arguments:  n/a

# return:     n/a

#

function printWelcomeText {

  printf "######################################################################\n"

  printf "#                                                                    #\n"

  printf "#              Welcome to the uRtWare submodule setup!               #\n"

  printf "#                                                                    #\n"

  printf "######################################################################\n"

  printf "#                                                                    #\n"

  printf "# Copyright (c) 2018..2018  Thomas Schöpping                         #\n"

  printf "#                                                                    #\n"

  printf "# This is free software; see the source for copying conditions.      #\n"

  printf "# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR  #\n"

  printf "# A PARTICULAR PURPOSE. The development of this software was         #\n"

  printf "# supported by the Excellence Cluster EXC 227 Cognitive Interaction  #\n"

  printf "# Technology. The Excellence Cluster EXC 227 is a grant of the       #\n"

  printf "# Deutsche Forschungsgemeinschaft (DFG) in the context of the German #\n"

  printf "# Excellence Initiative.                                             #\n"

  printf "#                                                                    #\n"

  printf "######################################################################\n"

}

### print help #################################################################

# Prints a help text to standard out.

#

# usage:      printHelp

# arguments:  n/a

# return:     n/a

#

function printHelp {

  printInfo "printing help text\n"

  printf "usage:    $(basename ${BASH_SOURCE[0]}) [-h|--help] [-i|--init] [-s|--setup] [-w|--wipe] [-q|--quit] [--log=<file>]\n"

  printf "options:  -h, --help\n"

  printf "              Print this help text.\n"

  printf "          -i, --init\n"

  printf "              Initialize the uRtWare submodule.\n"

  printf "          -w, --wipe\n"

  printf "              Wipe the entire uRtWare submodule.\n"

  printf "          -q, --quit\n"

  printf "              Quit the script.\n"

  printf "          --log=<file> \n"

  printf "              Specify a log file.\n"

}

### initialize uRtWare submodule ###############################################

# Initialize the uRtWare submodule.

#

# usage:      initUrtware

# arguments:  n/a

# return:     0

#                 No error or warning occurred.

#             1

#                 Warning: Arborted by user.

#             -1

#                 Error: Unexpected user input.

#

function initUrtware {

  printInfo "initializing uRtWare submodule...\n"

  local userdir=$(pwd)

  local middlewaredir=$(dirname $(realpath ${BASH_SOURCE[0]}))

  local urtwaredir=${middlewaredir}/uRtWare

  # if the uRtWare folder is not empty

  if [ ! -z "$(ls -A $urtwaredir)" ]; then

    printWarning "$(realpath $urtwaredir) is not empty. Delete and reinitialize? [y/n]\n"

    local userinput=""

    readUserInput "YyNn" userinput

    case $userinput in

      Y|y)

        wipeUrtware

        ;;

      N|n)

        printWarning "uRtWare initialization aborted by user\n"

        return 1

        ;;

      *) # sanity check (return error)

        printError "unexpected input: $userinput\n"; return -1;;

    esac

  fi

  # initialize submodule to default branch

  cd $middlewaredir

  git submodule update --init $urtwaredir 2>&1 | tee -a $LOG_FILE

  while [ ${PIPESTATUS[0]} -ne 0 ]; do

    printWarning "initialitaion failed. Retry? [y/n]\n"

    local userinput=""

    readUserInput "YyNn" userinput

    case "$userinput" in

      Y|y)

        git submodule update --init $urtwaredir 2>&1 | tee -a $LOG_FILE;;

      N|n)

        printWarning "uRtWare initialization aborted by user\n"

        cd $userdir

        return 1

        ;;

      *) # sanity check (return error)

        printError "unexpected input: $userinput\n"; return -1;;

    esac

  done

  cd $userdir

  return 0

}

### reset uRtWare submodule and wipe directory ####################################

# Resets the uRtWare Git submodule and wipes the directory.

#

# usage:      wipeUrtware

# arguments:  n/a

# return:     n/a

function wipeUrtware {

  local userdir=$(pwd)

  local middlewaredir=$(dirname $(realpath ${BASH_SOURCE[0]}))

  local urtwaredir=${middlewaredir}/uRtWare

  printInfo "reset and wipe Git submodule $urtwaredir\n"

  # if the uRtWare folder is empty

  if [ -z "$(ls -A $urtwaredir)" ]; then

    printWarning "$urtwaredir is already empty\n"

    return 1

  else

    # get some information from Git

    cd $middlewaredir

    local git_basehash=($(git ls-tree -d HEAD $urtwaredir)); git_basehash=${git_basehash[2]}

    cd $urtwaredir

    local git_branch_current=$(git rev-parse --abbrev-ref HEAD)

    local git_difftobase="$(git diff ${git_basehash}..HEAD)"

    local git_commits=$(git log --format=oneline ${git_basehash}..HEAD)

    local git_dirtyfiles=($(git ls-files -dmo --exclude-standard --exclude=/doc))

    cd $userdir

    local issues=0

    # if HEAD is ahead of submodule base commit

    if [ -n "$git_difftobase" ]; then

      issues=$((issues + 1))

      printWarning "HEAD is ahead of submodule base\n"

    fi

    # if there are untracked, modified, or deleted files

    if [ ${#git_dirtyfiles[@]} != 0 ]; then

      issues=$((issues + 1))

      printWarning "there are ${#git_dirtyfiles[@]} untracked, modified, or deleted files\n"

    fi

    if [ $issues -gt 0 ]; then

      local userinput=""

      printWarning "$issues issues detected. Do you want to continue? [y/n]\n"

      readUserInput "YyNn" userinput

      case "$userinput" in

        Y|y)

          ;;

        N|n)

          printfWarning "wiping uRtWare Git submodule aborted by user\n"

          return 2

          ;;

        *) # sanity check (return error)

          printError "unexpected input: $userinput\n"; return -1;;

      esac

    fi

    # checkout base commit and delete all local branches

    cd $middlewaredir

    git submodule update --force --checkout $urtwaredir | tee -a $LOG_FILE

    cd $urtwaredir

    local git_branches=($(git for-each-ref --format="%(refname)"))

    for branch in $git_branches; do

      if [[ $branch = *"heads/"* ]]; then

        git branch -D ${branch##*/} | tee -a $LOG_FILE

      fi

    done

    cd $userdir

    # deinitialize uRtWare submodule and delete any remaining files

    cd $middlewaredir

    git submodule deinit -f $urtwaredir 2>&1 | tee -a $LOG_FILE

    rm -rf $urtwaredir/*

    cd $userdir

    return 0

  fi

}

### main function of this script ###############################################

# Initializes or wipes the uRtWare Git submodule, and provides an entry point to

# its setup.

#

# usage:      see function printHelp

# arguments:  see function printHelp

# return:     0

#                 No error or warning occurred.

#

function main {

  # print welcome/info text if not suppressed

  if [[ $@ != *"--noinfo"* ]]; then

    printWelcomeText

  else

    printf "######################################################################\n"

  fi

  printf "\n"

  # if --help or -h was specified, print the help text and exit

  if [[ $@ == *"--help"* || $@ == *"-h"* ]]; then

    printHelp

    printf "\n"

    quitScript

  fi

  # set log file if specified

  if [[ $@ == *"--log"* ]] || [[ $@ == *"--LOG"* ]]; then

    # get the parameter (file name)

    local cmdidx=1

    while [[ ! "${!cmdidx}" = "--log"* ]] && [[ ! "${!cmdidx}" = "--LOG"* ]]; do

      cmdidx=$[cmdidx + 1]

    done

    local cmd="${!cmdidx}"

    local logfile=""

    if [[ "$cmd" = "--log="* ]] || [[ "$cmd" = "--LOG="* ]]; then

      logfile=${cmd#*=}

    else

      local filenameidx=$((cmdidx + 1))

      logfile="${!filenameidx}"

    fi

    # optionally force silent appending

    if [[ "$cmd" = "--LOG"* ]]; then

      setLogFile --option=c --quiet "$logfile" LOG_FILE

    else

      setLogFile "$logfile" LOG_FILE

      printf "\n"

    fi

  fi

  # log script name

  printLog "this is $(realpath ${BASH_SOURCE[0]})\n"

  # parse arguments

  local otherargs=()

  while [ $# -gt 0 ]; do

    if ( parseIsOption $1 ); then

      case "$1" in

        -h|--help) # already handled; ignore

          shift 1;;

        -i|--init)

           initUrtware; printf "\n"; shift 1;;

        -w|--wipe)

           wipeUrtware; printf "\n"; shift 1;;

        -q|--quit)

          quitScript; shift 1;;

        --log=*|--LOG=*) # already handled; ignore

          shift 1;;

        --log|--LOG) # already handled; ignore

          shift 2;;

        --noinfo) # already handled; ignore

          shift 1;;

        *)

          printError "invalid option: $1\n"; shift 1;;

      esac

    else

      otherargs+=("$1")

      shift 1

    fi

  done

  # interactive menu

  while ( true ); do

    # main menu info prompt and selection

    printInfo "Operating system setup main menu\n"

    printf "Please select one of the following actions:\n"

    printf "  [I] - initialize uRtWare submodule\n"

    printf "  [W] - wipe uRtWare submodule\n"

    printf "  [Q] - quit this setup\n"

    local userinput=""

    readUserInput "IiWwQq" userinput

    printf "\n"

    # evaluate user selection

    case "$userinput" in

      I|i)

        initUrtware; printf "\n";;

      W|w)

        wipeUrtware; printf "\n";;

      Q|q)

        quitScript;;

      *) # sanity check (exit with error)

        printError "unexpected argument: $userinput\n";;

    esac

  done

  exit 0

}

################################################################################

# SCRIPT ENTRY POINT                                                           #

################################################################################

main "$@"

Subproject commit 5cf365321c98e5f66cb49f4e38bd5de1d6d3ba3b

Subproject commit e34c46f0d4b743db0d93f806a1c8395a16a71414

################################################################################

# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot     #

# (AMiRo) platform.                                                            #

# Copyright (C) 2016..2018  Thomas Schöpping et al.                            #

#                                                                              #

# This program is free software: you can redistribute it and/or modify         #

# it under the terms of the GNU General Public License as published by         #

# the Free Software Foundation, either version 3 of the License, or            #

# (at your option) any later version.                                          #

#                                                                              #

# This program is distributed in the hope that it will be useful,              #

# but WITHOUT ANY WARRANTY; without even the implied warranty of               #

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                #

# GNU General Public License for more details.                                 #

#                                                                              #

# You should have received a copy of the GNU General Public License            #

# along with this program.  If not, see <http://www.gnu.org/licenses/>.        #

#                                                                              #

# This research/work was supported by the Cluster of Excellence Cognitive      #

# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #

# funded by the German Research Foundation (DFG).                              #

################################################################################