AMiRo-OS

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

# AMiRo-BLT is an bootloader and toolchain designed for the Autonomous Mini    #

# Robot (AMiRo) platform.                                                      #

# Copyright (C) 2016..2019  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

}

### check whether commands are available #######################################

# Checks whether the specified commands are available and can be executed.

#

# usage:      checkCommands [<command> <command> ...]

# arguments:  <command>

#                 Name of the command to check.

# return:     0

#                 All requested commands are available.

#             >0

#                 Number of requested commands that were not found.

#             -1

#                 No argument given.

#

function checkCommands {

  local status=0

  # return if no argument was specified

  if [ $# -eq 0 ]; then

    return -1

  fi

  # check all specified commands

  while [ $# -gt 0 ]; do

    command -v $1 &>/dev/null

    if [ $? -ne 0 ]; then

      printWarning "Command '$1' not available.\n"

      status=$((status + 1))

    fi

    shift 1

  done

  return $status

}

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

# 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 QtCreator setup!                   #\n"

  printf "#                                                                    #\n"

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

  printf "#                                                                    #\n"

  printf "# Copyright (c) 2016..2019  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] [--module=<module>] [-a|--all] [-c|--clean] [-w|--wipe] [-q|--quit] [--log=<file>]\n"

  printf "\n"

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

  printf "              Print this help text.\n"

  printf "          --module=<module>\n"

  printf "              Create project for a single module.\n"

  printf "          -a, --all\n"

  printf "              Create projects for all modules.\n"

  printf "          -c, --clean\n"

  printf "              Delete project files.\n"

  printf "          -w, --wipe\n"

  printf "              Delete project and .user files.\n"

  printf "          -q, --quit\n"

  printf "              Quit the script.\n"

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

  printf "              Specify a log file.\n"

}

### read directory where to create/delete projects #############################

# Read the directory where to create/delete project files from user.

#

# usage:      getProjectDir <pathvar>

# arguments:  <pathvar>

#                 Variable to store the selected path to.

# return:     n/a

#

function getProjectDir {

  printLog "reading path for project files from user...\n"

  local amirobltdir=$(realpath $(dirname $(realpath ${BASH_SOURCE[0]}))/../../../Target/)

  local input=""

  read -p "Path where to create/delete project files: " -i $amirobltdir -e input

  printLog "user selected path $(realpath $input)\n"

  eval $1="$(realpath $input)"

}

### retrieves the ARM-NONE-EABI-GCC include directory ##########################

# Retrieves the include directory of the currently set arm-none-eabi-gcc.

#

# usage:      retrieveGccIncludeDir <path>

# arguments:  <path>

#                 Variable to store the path to.

# return:    0

#                 No error or warning occurred.

#            -1

#                 Error: Command 'arm-none-eabi-gcc' not found.

#            -2

#                 Error: include directory could not be resolved

#

function retrieveGccIncludeDir {

  # retrieve binary path or link

  local binpath=$(which arm-none-eabi-gcc)

  local gccincpath=""

  if [ -z "$binpath" ]; then

    printError "command 'arm-none-eabi-gcc' not found\n"

    return -1

  else 

    # traverse any links

    while [ -L "$binpath" ]; do

      binpath=$(realpath $(dirname $binpath)/$(readlink $binpath))

    done

    printInfo "gcc-arm-none-eabi detected: $binpath\n"

    # return include path

    gccincpath=$(realpath $(dirname ${binpath})/../arm-none-eabi/include/)

    if [ ! -d "$gccincpath" ]; then

      printWarning "$gccincpath does not exist\n"

      return -2

    else

      eval $1="$gccincpath"

      return 0

    fi

  fi

}

### detect available modules ###################################################

# Detect all avalable modules supported by AMiRo-OS.

#

# usage:      detectModules <modulearray>

# arguments:  <modulearray>

#                 Array variable to store all detected modules to.

# return:     n/a

#

function detectModules {

  local modulesdir=$(realpath $(dirname $(realpath ${BASH_SOURCE[0]}))/../../../Target/Modules)

  local modules_detected=()

  # detect all available modules (via directories)

  for dir in $(ls -d ${modulesdir}/*/); do

    modules_detected[${#modules_detected[@]}]=$(basename $dir)

  done

  # set the output variable

  eval "$1=(${modules_detected[*]})"

}

### create project files for a single module ###################################

# Create project files for a single module.

#

# usage:      createModuleProject <modules> [-m|--module=<module>] [-p|--path=<path>] [--gcc=<path>] [-o|--out=<var>] [--gccout=<var>]

# arguments:  <modules>

#                 Array containing all modules available.

#             -m, --module <module>

#                 Name (folder name) of the module for which project files shall be generated.

#             -p, --path <path>

#                 Path where to create the project files.

#             --gcc=<path>

#                 Path to the GCC include directory.

#             -o, --out <var>

#                 Variable to store the path to.

#             --gccout=<var>

#                 Variable to store the path to the GCC include directory to.

#                 If this optional arguments is absent, ths function will ask for user input.

# return:     0

#                 No error or warning occurred.

#             1

#                 Aborted by user.

#             -1

#                 No modules available.

#             -2

#                 The specified <module> could not be found.

#             -3

#                 Parsing the project for the specified module failed.

#             -4

#                 Missing dependencies.

#

function createModuleProject {

  local userdir=$(pwd)

  local modulesdir=$(realpath $(dirname $(realpath ${BASH_SOURCE[0]}))/../../../Target/Modules)

  local modules=("${!1}")

  local module=""

  local moduleidx=""

  local projectdir=""

  local gccincludedir=""

  local outvar=""

  local gccoutvar=""

  # check dependencies

  checkCommands make

  if [ $? -ne 0 ]; then

    printError "Missing dependencies detected.\n"

    return -4

  fi

  # parse arguments

  local otherargs=()

  while [ $# -gt 0 ]; do

    if ( parseIsOption $1 ); then

      case "$1" in

        -m=*|--module=*)

          module="${1#*=}"; shift 1;;

        -m|--module)

          module="$2"; shift 2;;

        -p=*|--path=*)

          projectdir=$(realpath "${1#*=}"); shift 1;;

        -p|--path)

          projectdir=$(realpath "$2"); shift 2;;

        --gcc=*)

          gccincludedir=$(realpath "${1#*=}"); shift 1;;

        --gcc)

          gccincludedir=$(realpath "$2"); shift 2;;

        -o=*|--out=*)

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

        -o|--out)

          outvar=$2; shift 2;;

        --gccout=*)

          gccoutvar=$(realpath "${1#*=}"); shift 1;;

        --gccout)

          gccoutvar=$(realpath "$2"); shift 2;;

        *)

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

      esac

    else

      otherargs+=("$1")

      shift 1

    fi

  done

  # sanity check for the modules variable

  if [ -z "${modules[*]}" ]; then

    printError "no modules available\n"

    return -1

  fi

  # select module

  if [ -z $module ]; then

    # list all available modules

    printInfo "choose a module or type 'A' to abort:\n"

    for (( idx=0; idx<${#modules[@]}; ++idx )); do

      printf "%4u: %s\n" $(($idx + 1)) "${modules[$idx]}"

    done

    # read user input

    printLog "read user selection\n"

    local userinput=""

    while [[ ! "$userinput" =~ ^[0-9]+$ ]] || [ ! "$userinput" -gt 0 ] || [ ! "$userinput" -le ${#modules[@]} ] && [[ ! "$userinput" =~ ^[Aa]$ ]]; do

      read -p "your selection: " -e userinput

      printLog "user selection: $userinput\n"

      if [[ ! "$userinput" =~ ^[0-9]+$ ]] || [ ! "$userinput" -gt 0 ] || [ ! "$userinput" -le ${#modules[@]} ] && [[ ! "$userinput" =~ ^[Aa]$ ]]; then

        printWarning "Please enter an integer between 1 and ${#modules[@]} or 'A' to abort.\n"

      fi

    done

    if [[ "$userinput" =~ ^[Aa]$ ]]; then

      printWarning "aborted by user\n"

      return 1

    fi

    # store selection

    moduleidx=$(($userinput - 1))

    module="${modules[$moduleidx]}"

    printf "\n"

  else

    # search all modules for the selected one

    for (( idx=0; idx<${#modules[@]}; ++idx )); do

      if [ "${modules[$idx]}" = "$module" ]; then

        moduleidx=$idx

        break

      fi

    done

    # error if the module could not be found

    if [ -z $moduleidx ]; then

      printError "module ($module) not available\n"

      return -2

    fi

  fi

  # read absolute project directory if required

  if [ -z "$projectdir" ]; then

    getProjectDir projectdir

    printf "\n"

  fi

  # check for existing project files

  local projectfiles="$(find ${projectdir} -maxdepth 1 -type f | grep -E "${module}\.(includes|files|config|creator)$")"

  IFS=$'\n'; projectfiles=($projectfiles); unset IFS

  if [ ! -z "${projectfiles[*]}" ]; then

    printWarning "The following files will be overwritten:\n"

    for pfile in ${projectfiles[@]}; do

      printWarning "\t$(basename $pfile)\n"

    done

    local userinput=""

    printInfo "Continue and overwrite? [y/n]\n"

    readUserInput "YyNn" userinput

    case "$userinput" in

      Y|y)

        ;;

      N|n)

        printWarning "Project generation for ${module} module aborted by user\n"

        return 1

        ;;

      *)

        printError "unexpected input: ${userinput}\n"; return -999;;

    esac

    printf "\n"

  fi

  # print message

  printInfo "generating QtCreator project files for the $module module...\n"

  # retrieve absolute GCC include path

  if [ -z "$gccincludedir" ]; then

    retrieveGccIncludeDir gccincludedir

  fi

  # change to project directory

  local amirobltrootdir=$(realpath $(dirname ${BASH_SOURCE[0]})/../../..)

  cd "$projectdir"

  # run make, but only run the GCC preprocessor and produce no binaries

  local sourcefiles=()

  local sourcefile=""

  local parse_state="WAIT_FOR_INCLUDE_OR_COMPILE"

  # capture all output from make and GCC and append the return value of make as last line

  printInfo "processing project (this may take a while)...\n"

  local rawout=$(make --directory ${amirobltrootdir}/Target/Modules/${module}/Boot --always-make USER_CFLAGS="-v -H" 2>&1 && echo $?)

  # check whether the make call was successfull

  if [[ $(echo "${rawout}" | tail -n 1) != "0" ]]; then

    printError "executing 'make' in module directory failed\n"

    cd "$userdir"

    return -3

  fi

  # extract file names from raw output

  IFS=$'\n'; rawout=($rawout); unset IFS

  for line in "${rawout[@]}"; do

    case $parse_state in

      WAIT_FOR_INCLUDE_OR_COMPILE)

        # lines stating included files look like:

        # ... <../relative/path/to/file>

        if [[ "$line" =~ ^\.+[[:blank:]].+\..+$ ]]; then

          sourcefile=${line##* }

          if [[ ! "$sourcefile" =~ ^/ ]]; then

            sourcefile=$(realpath ${amirobltrootdir}/Target/Modules/${module}/Boot/${sourcefile})

          fi

          sourcefiles[${#sourcefiles[@]}]="$sourcefile"

        # whenever the next source file is processed, a message appears like:

        # Compining <filnemame>

        elif [[ "$line" =~ ^\+\+\+[[:blank:]]Compiling[[:blank:]]\[(.+\.c)\]$ ]]; then

          printf "."

          sourcefile=${BASH_REMATCH[1]}

          parse_state="WAIT_FOR_COMPILERCALL"

        fi;;

      WAIT_FOR_COMPILERCALL)

        # wait for the actual call of the compiler to retrieve the full path to the source file

        if [[ "$line" == *${sourcefile}* ]]; then

          line="${line%%${sourcefile}*}${sourcefile}"

          sourcefile=$(realpath ${amirobltrootdir}/Target/Modules/${module}/Boot/${line##* })

          sourcefiles[${#sourcefiles[@]}]="$sourcefile"

          parse_state="WAIT_FOR_INCLUDE_OR_COMPILE"

        fi;;

    esac

  done

  unset rawout

  printf "\n"

  # sort and remove duplicates

  IFS=$'\n'; sourcefiles=($(sort --unique <<< "${sourcefiles[*]}")); unset IFS

  # extract include paths

  local includes=()

  for source in ${sourcefiles[*]}; do

    includes[${#includes[@]}]="$(dirname ${source})"

  done

  # sort and remove duplicates

  IFS=$'\n'; includes=($(sort --unique <<< "${includes[*]}")); unset IFS

  # generate the .files file, containing all source files

  echo "" > ${projectdir}/${module}.includes

  for inc in ${includes[*]}; do

    echo "$inc" >> ${projectdir}/${module}.includes

  done

  # generate the .incldues file, containing all include paths

  echo "" > ${projectdir}/${module}.files

  for source in ${sourcefiles[*]}; do

    # skip GCC files

    if [[ ! "$source" =~ .*/gcc.* ]]; then

      echo "$source" >> ${projectdir}/${module}.files

    fi

  done

  # generate a default project configuration file if it doesn't exist yet

  if [ ! -f ${projectdir}/${module}.config ]; then

    echo "// Add predefined macros for your project here. For example:" > ${projectdir}/${module}.config

    echo "// #define YOUR_CONFIGURATION belongs here" >> ${projectdir}/${module}.config

  fi

  # generate a default .creator file if it doesn't exist yet

  if [ ! -f ${projectdir}/${module}.creator ]; then

    echo "[general]" > ${projectdir}/${module}.creator

  fi

  # go back to user directory

  cd $userdir

  # fill the output variables

  if [ ! -z "$outvar" ]; then

    eval $outvar="$projectdir"

  fi

  if [ ! -z "$gccoutvar" ]; then

    eval $gccoutvar="$gccincludedir"

  fi

  return 0

}

### create project files for all modules #######################################

# Create project files for all modules.

#

# usage:      createAllProjects <modules> [-p|--path=<path>] [--gcc=<path>] [-o|--out=<var>] [--gccout=<var>]

# arguments:  <modules>

#                 Array containing all modules available.

#             -p, --path <path>

#                 Path where to create the project files.

#             --gcc=<path>

#                 Path to the GCC include directory.

#             -o, --out <var>

#                 Variable to store the path to.

#             --gccout=<var>

#                 Variable to store the path to the GCC include directory to.

#                 If this optional arguments is absent, ths function will ask for user input.

# return:     0

#                 No error or warning occurred.

#             1

#                 Aborted by user.

#             -1

#                 No modules available.

#

function createAllProjects {

  local modules=("${!1}")

  local projectdir=""

  local gccincludedir=""

  local outvar=""

  local gccoutvar=""

  # parse arguments

  local otherargs=()

  while [ $# -gt 0 ]; do

    if ( parseIsOption $1 ); then

      case "$1" in

        -p=*|--path=*)

          projectdir=$(realpath "${1#*=}"); shift 1;;

        -p|--path)

          projectdir=$(realpath "$2"); shift 2;;

        --gcc=*)

          gccincludedir=$(realpath "${1#*=}"); shift 1;;

        --gcc)

          gccincludedir=$(realpath "$2"); shift 2;;

        -o=*|--out=*)

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

        -o|--out)

          outvar=$2; shift 2;;

        --gccout=*)

          gccoutvar=$(realpath "${1#*=}"); shift 1;;

        --gccout)

          gccoutvar=$(realpath "$2"); shift 2;;

        *)

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

      esac

    else

      otherargs+=("$1")

      shift 1

    fi

  done

  # sanity check for the modules variable

  if [ -z "${modules[*]}" ]; then

    printError "no modules available\n"

    return -1

  fi

  # read absolute project directory if required

  if [ -z "$projectdir" ]; then

    getProjectDir projectdir

  fi

  # check for existing project files

  local projectfiles=()

  for module in ${modules[@]}; do

    local pfiles="$(find ${projectdir} -maxdepth 1 -type f | grep -E "${module}\.(includes|files|config|creator)$")"

    IFS=$'\n'; pfiles=($pfiles); unset IFS

    projectfiles=( ${projectfiles[*]} ${pfiles[*]} )

  done

  if [ ! -z "${projectfiles[*]}" ]; then

    printWarning "The following files will be removed:\n"

    for pfile in ${projectfiles[@]}; do

      printWarning "\t$(basename $pfile)\n"

    done

    local userinput=""

    printInfo "Continue and overwrite? [y/n]\n"

    readUserInput "YyNn" userinput

    case "${userinput}" in

      Y|y)

        for pfile in ${projectfiles[*]}; do

          rm "$pfile"

        done

        ;;

      N|n)

        printWarning "Project generation aborted by user\n"

        return 1

        ;;

      *)

        printError "unexpected input: ${userinput}\n"

        return 999

        ;;

    esac

  fi

  # print message

  printf "\n"

  printInfo "generating QtCreator project files for all modules...\n"

  # retrieve absolute GCC include path

  if [ -z "$gccincludedir" ]; then

    retrieveGccIncludeDir gccincludedir

  fi

  # iterate over all modules

  local retval=1

  for module in ${modules[@]}; do

    if [ $retval != 0 ]; then

      printf "\n"

    fi

    createModuleProject modules[@] --module="$module" --path="$projectdir" --gcc="$gccincludedir"

    retval=$?

  done

  return 0

}

### delete project files #######################################################

# Deletes all project files and optionally .user files, too.

#

# usage:      deleteProjects [-p|--path=<path>] [-m|--module=<module>] [-o|--out=<var>] [-w|-wipe]

# arguments:  -p, --path <path>

#                 Path where to delete the project files.

#             -m, --module <module>

#                 Module name for which the project files shall be deleted.

#             -o, --out <var>

#                 Variable to store the path to.

#             -w, --wipe

#                 Delete .user files as well.

# return:

#  -  0: no error

#

function deleteProjects {

  local modulename=""

  local projectdir=""

  local outvar=""

  local wipe=false

  local files=""

  # parse arguments

  local otherargs=()

  while [ $# -gt 0 ]; do

    if ( parseIsOption $1 ); then

      case "$1" in

        -p=*|--path=*)

          projectdir=$(realpath "${1#*=}"); shift 1;;

        -p|--path)

          projectdir=$(realpath "$2"); shift 2;;

        -m=*|--module=*)

          modulename="${1#*=}"; shift 1;;

        -m|--module)

          modulename="${2}"; shift 2;;

        -o=*|--out=*)

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

        -o|--out)

          outvar=$2; shift 2;;

        -w|--wipe)

          wipe=true; shift 1;;

        *)

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

      esac

    else

      otherargs+=("$1")

      shift 1

    fi

  done

  # read absolute project directory if required

  if [ -z "$projectdir" ]; then

    getProjectDir projectdir

  fi

  # list all files to be deleted

  if [ -z "$modulename" ]; then

    if [ $wipe != true ]; then

      files=$(find "${projectdir}" -maxdepth 1 -type f | grep -E "^.+\.(includes|files|config|creator|cflags|cxxflags)$")

    else

      files=$(find "${projectdir}" -maxdepth 1 -type f | grep -E "^.+\.(includes|files|config|creator|cflags|cxxflags|creator(\.user(\..+)?)?)$")

    fi

  else

    if [ $wipe != true ]; then

      files=$(find "${projectdir}" -maxdepth 1 -type f | grep -E "^${modulename}\.(includes|files|config|creator|cflags|cxxflags)$")

    else

      files=$(find "${projectdir}" -maxdepth 1 -type f | grep -E "^${modulename}\.(includes|files|config|creator|cflags|cxxflags|creator(\.user(\..+)?)?)$")

    fi

  fi

  if [ ! -z "$files" ]; then

    printInfo "Deleting the following files:\n"

    while read line; do

      printInfo "\t$(basename ${line})\n"

      rm ${line} 2>&1 | tee -a $LOG_FILE

    done <<< "${files}"

  else

    printInfo "No project files found\n"

  fi

  # store the path to the output variable, if required

  if [ ! -z "$outvar" ]; then

    eval $outvar="$projectdir"

  fi

  return 0

}

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

# Creates, deletes and wipes QtCreator project files for the three AMiRo base modules.

#

# usage:      see function printHelp

# arguments:  see function printHelp

# return:     0

#                 No error or warning ocurred.

#

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"

  # detect available modules and inform user

  local modules=()

  detectModules modules

  case "${#modules[@]}" in

    0)

      printInfo "no module has been detected\n";;

    1)

      printInfo "1 module has been detected:\n";;

    *)

      printInfo "${#modules[@]} modules have been detected:\n"

  esac

  for (( idx=0; idx<${#modules[@]}; ++idx )); do

    printInfo "  - ${modules[$idx]}\n"

  done

  printf "\n"

  # parse arguments

  local otherargs=()

  while [ $# -gt 0 ]; do

    if ( parseIsOption $1 ); then

      case "$1" in

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

          shift 1;;

        -m=*|--module=*)

          createModuleProject modules[@] --module="${1#*=}"; printf "\n"; shift 1;;

        -m|--module)

          createModuleProject modules[@] --module="${2}"; printf "\n"; shift 2;;

        -a|--all)

          createAllProjects modules[@]; shift 1;;

        -c|--clean)

          deleteProjects; printf "\n"; shift 1;;

        -w|--wipe)

          deleteProjects --wipe; 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 "QtCreator setup main menu\n"

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

    printf "  [M] - create a project for a single module\n"

    printf "  [A] - create a project for all modules\n"

    printf "  [C] - clean all project files\n"

    printf "  [W] - wipe all project and .user files\n"

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

    local userinput=""

    readUserInput "MmAaCcWwQq" userinput

    printf "\n"

    # evaluate user selection

    case "$userinput" in

      M|m)

        createModuleProject modules[@]; printf "\n";;

      A|a)

        createAllProjects modules[@]; printf "\n";;

      C|c)

        deleteProjects; printf "\n";;

      W|w)

        deleteProjects --wipe; printf "\n";;

      Q|q)

        quitScript;;

      *) # sanity check (exit with error)

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

    esac

  done

  exit 0

}

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

# SCRIPT ENTRY POINT                                                           #

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

main "$@"