AMiRo-OS

  printf("SerialBoot version 1.00. Performs firmware updates via the serial port     \n");

  printf("for a microcontroller based system that runs the OpenBLT bootloader.       \n");

  printf("                                                                           \n");

  printf("Copyright (c) by Feaser  http://www.feaser.com                             \n");

  printf("This tool was modified for the 'Autonomous Mini Robot' - AMiRo.            \n");

  printf("Copyright (c) 2016..2017  Marvin Barther, Thomas Schoepping, and Stefan    \n");

  printf("                          Herbrechtsmeier                                  \n");

  printf("This is free software; see the source for copying conditions. There is NO  \n");

  printf("The development of this software was supported by the Excellence Cluster   \n");

  printf("a grant of the Deutsche Forschungsgemeinschaft (DFG) in the context of the \n");

  printf("German Excellence Initiative.                                              \n");

AMiRo-BLT is the bootloader and flashing toolchain for the base version of the

Autonomous Mini Robot (AMiRo) [1,2]. It is based on OpenBLT developed by Feaser

(see <http://feaser.com/en/openblt.php>).

Copyright (C) 2016..2017  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/>.

 [1] Herbrechtsmeier S., Rückert U., & Sitte J. (2012). "AMiRo - Autonomous Mini

     Robot for Research and Education". In Advances in Autonomous Mini Robots

     (pp. 101-112). Springer Berlin Heidelberg.

 [2] Schöpping T., Korthals T., Herbrechtsmeier S., & Rückert U. (2015). "AMiRo:

     A Mini Robot for Scientific Applications" In Advances in Computational

     Intelligence (pp. 199-205). Springer International Publishing.

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

#                                                                              #

#        RRRRRRRR   EEEEEEEE     AAA     DDDDDDDD   MM     MM  EEEEEEEE        #

#        RR     RR  EE          AA AA    DD     DD  MMM   MMM  EE              #

#        RR     RR  EE         AA   AA   DD     DD  MMMM MMMM  EE              #

#        RRRRRRRR   EEEEEE    AA     AA  DD     DD  MM MMM MM  EEEEEE          #

#        RR   RR    EE        AAAAAAAAA  DD     DD  MM     MM  EE              #

#        RR    RR   EE        AA     AA  DD     DD  MM     MM  EE              #

#        RR     RR  EEEEEEEE  AA     AA  DDDDDDDD   MM     MM  EEEEEEEE        #

#                                                                              #

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

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

the source code, and use the tools and flash the bootloader software to the

AMiRo base modules.

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

  1  Required software

    1.1  stm32flash

    1.2  GCC ARM Embedded Toolchain

    1.3  GNU Make

    1.4  CMake

  2  Recommended Software

  3  Compiling the source code

    3.1  target software

    3.2  host software

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

The only third party software required are stm32flash and GCC for ARM embedded

devices. While the latter is a compiler to build binaries that are compatible

with the microcontrollers (MCUs) of AMiRo, the former is used to write this data

to the hardware.

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

To build the tool from source, clone the GIT repository to a local folder on

your machine:

Make sure that you have selected version 0.4 or later of the tool. You can now

build the tool simply by executing 'make'. Finally, you must make the resulting

binary (stm32flash) globally available in your environment. You can do so by

either copying the file to an appropriate location (e.g. /usr/local/bin/) or

creating an according link. The tool must be available as 'stm32flash' in every

new shell.

1.2 - GCC ARM Embedded Toolchain

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

<https://launchpad.net/gcc-arm-embedded>. For installation of the compiler

toolchain, please follow the instructions that can be found on the web page.

If you have access to the AMiRo-OS project as well, it is highly recommended

to use the setup application provided there.

1.3 - GNU Make

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

GNU Make usually comes as preinstalled tool on Ubuntu based operating systems.

If your system is missing GNU Make, it is recommended to install it from the

standard repositories since no special requirements (e.g. features of a very

recent version) are required.

1.4 - CMake

-----------

In order to build the SerialBoot host application, CMake version 2.8 or later is

required. If possible, it is recommended to instal it from the standard

repositories of your operating system.

2 - RECOMMENDED SOFTWARE

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

AMiRo-BLT provides support for the QtCreator IDE. In order to setup according

projects, use the ./setup.sh script and follow the instructions. It will

automatically generate the required files and you can import the projects by

opening the .creator files with Qtcreator IDE.

3 - COMPILING THE SOURCE CODE

The AMiRo-BLT project is separated into two major parts: target- and host-

related software. The former comprises the bootloaders for the three base

modules of the AMiRo. The latter is the SerialBoot tool, which can be used to

flash further binaries (e.g. a complex operating system) to the microcontrollers

without connecting to the module directly (data is passed through via CAN bus).

Since the programming connector of the lowermost AMiRo module is the only one

accessible when the robot is fully set up, this enables to update the firmware

even for other modules.

3.1 - target software

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

In the ./Target/Demo/ directory there are three subfolders, one for each AMiRo

base module. Within each of these is an additional Boot/ folder

(./Target/Demo/<device>/Boot/), which contains a makefile. Each bootloader can

be compiled by executing 'make' in these directories.

In order to flash the bootloader to a microcontroller, you first have to set

full read and write permissions to the USB ports of your system. You can do so

by executing the following command:

Now connect the module you want to flash directly to your system (note that

indirect flashing is not possible for the bootloader itself) and run the command

  - Could the makefile execute the stm32flash tool?

  - Are the permissions for USB ports set correctly?

  - Are there any other applications using the serial connection?

  - Is the AMiRo module connected to your system?

  - Is the AMiRo module powered up?

ATTENTION:

Never flash a bootloader to the wrong module! Doing so might cause severe errors

and damage the robot.

3.2 - host software

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

The SerialBoot tool can be built by using cmake. The according CMakeLists.txt

file can be found in the ./Host/Source/SerialBoot/ directory. To ensure

compatibility with other software (e.g. AMiRo-OS) it is higly recommended to use

the provided ./setup.sh script to build SerialBoot. In the end the binary path

should be ./Host/Sotware/SerialBoot/build/SerialBoot.

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

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

# AMiRo-OS is an operating system designed for the Autonomous Mini Robot       #

# (AMiRo) platform.                                                            #

# Copyright (C) 2016..2017  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).                              #

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

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

###   HELPER FUNCTIONS                                                       ###

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

#-------------------------------------------------------------------------------

#-------------------------------------------------------------------------------

#-------------------------------------------------------------------------------

#-------------------------------------------------------------------------------

# ignore case when comparing strings

shopt -s nocasematch

# detect what exactly should be done

NOINFO_FLAG="NOINFO"

HELP_FLAG="HELP"

CLEAN_FLAG="CLEAN"

WIPE_FLAG="WIPE"

LIGHTRING_FLAG="LR"

POWERMANAGEMENT_FLAG="PM"

DIWHEELDRIVE_FLAG="DWD"

# start with an empty array

ARG_LIST=()

# try to interpret all given arguments

for ARG in "$@"; do

  case $ARG in

    "no_info")

      ARG_LIST+=( "$NOINFO_FLAG" )

      ;;

    "help")

      ARG_LIST+=( "$HELP_FLAG" )

      ;;

    "clean")

      ARG_LIST+=( "$CLEAN_FLAG" )

      ;;

    "wipe")

      ARG_LIST+=( "$WIPE_FLAG" )

      ;;

    "all")

      ARG_LIST+=( "$LIGHTRING_FLAG" "$POWERMANAGEMENT_FLAG" "$DIWHEELDRIVE_FLAG" )

      ;;

    "LightRing"|"LR")

      ARG_LIST+=( "$LIGHTRING_FLAG" )

      ;;

    "PowerManagement"|"PM")

      ARG_LIST+=( "$POWERMANAGEMENT_FLAG" )

      ;;

    "DiWheelDrive"|"DWD")

      ARG_LIST+=( "$DIWHEELDRIVE_FLAG" )

      ;;

  esac

# evaluate if a help text shall be printed and which further actions to take

PRINT_INFO=true

PRINT_HELP=false

ACTION_REQUESTED=false

for ARG in ${ARG_LIST[@]}; do

  case $ARG in

    $NOINFO_FLAG)

      PRINT_INFO=false

    $HELP_FLAG)

      PRINT_HELP=true

    $CLEAN_FLAG|$WIPE_FLAG|$LIGHTRING_FLAG|$POWERMANAGEMENT_FLAG|$DIWHEELDRIVE_FLAG)

      ACTION_REQUESTED=true

      PRINT_HELP=true

  esac

done

# print the info prompt

if [[ $PRINT_INFO = true ]]; then

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

  ###   PRINT INFO                                                           ###

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

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

  printf "#                                                                    #\n"

  printf "#            Welcome to the AMiRo-BLT QtCreator IDE setup            #\n"

  printf "#                                                                    #\n"

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

  printf "#                                                                    #\n"

  printf "# Copyright (c) 2016..2017  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"

  printf "\n"

fi

# print setup header

printf "QtCreator projects setup\n"

printf "========================\n"

printf "\n"

# print the help text

if [[ ${#ARG_LIST[@]} == 0 ||

      (${#ARG_LIST[@]} == 1 && ${ARG_LIST[0]} == "$NOINFO_FLAG") ||

      $PRINT_HELP = true ]]; then

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

  ###   PRINT HELP                                                           ###

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

  printf "The following commands are available:                                 \n"

  printf "                                                                      \n"

  printf "  help            - Prints this help text.                            \n"

  printf "  clean           - Deletes all files created by this script.         \n"

  printf "  wipe            - Deletes the .user files, created by QtCreator.    \n"

  printf "  LightRing       - Creates a project for the LightRing module.       \n"

  printf "  PowerManagement - Creates a project for the PowerManagement module. \n"

  printf "  DiWheelDrive    - Creates a project for the DiWheelDrive module.    \n"

  printf "  all             - Creates all three projects.                       \n"

  printf "                                                                      \n"

  printf "Any of these commands can be combined, e.g.                           \n"

  printf "  $> ./setup.sh PowerManagement DiWheelDrive                          \n"

  printf "will create two projects.                                             \n"

  printf "\n"

  printf "Note that this script does not create a project for the SerialBoot    \n"

  printf "application. Since it uses CMAKE, QtCreator can import it directly.   \n"

fi

# execute action

if [ $ACTION_REQUESTED = true ]; then

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

  ###   CONFIGURATION                                                        ###

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

  # the current user dir

  USER_DIR="${PWD}/"

  # the directory containing this script file

  toAbsolutePath $(dirname ${BASH_SOURCE[0]}) SCRIPT_DIR

  # the root directory of the project

  toAbsolutePath ${SCRIPT_DIR}../.. PROJECT_ROOT_PATH

  # the relative path where all project files shall be generated

  read -p "path where to create/delete the project files: " -i "$PROJECT_ROOT_PATH" -e QTCREATOR_FILES_PATH

  toAbsolutePath $QTCREATOR_FILES_PATH QTCREATOR_FILES_PATH

  # the include path for GCC specific headers

  ARM_NONE_EABI_GCC_BIN=$(which arm-none-eabi-gcc)

  while [ -L $ARM_NONE_EABI_GCC_BIN ]; do

    ARM_NONE_EABI_GCC_BIN=$(readlink $ARM_NONE_EABI_GCC_BIN)

  done

  toAbsolutePath "$(dirname $ARM_NONE_EABI_GCC_BIN)/../arm-none-eabi/include/" ARM_NONE_EABI_GCC_INCLUDE_PATH

  # a common path for all projects

  COMMON_SOURCE_INCLUDE_PATH=${PROJECT_ROOT_PATH}Target/Source

  # the paths to the individual projects

  POWERMANAGEMENT_PROJECT_ROOT_PATH=${PROJECT_ROOT_PATH}Target/Demo/ARMCM4_STM32F405_Power_Management_GCC/Boot

  DIWHEELDRIVE_PROJECT_ROOT_PATH=${PROJECT_ROOT_PATH}Target/Demo/ARMCM3_STM32F103_DiWheelDrive_GCC/Boot

  LIGHTRING_PROJECT_ROOT_PATH=${PROJECT_ROOT_PATH}Target/Demo/ARMCM3_STM32F103_LightRing_GCC/Boot

  # the prefix names for the projects to be generated

  LIGHTRING_PROJECT_PREFIX="LightRing"

  POWERMANAGEMENT_PROJECT_PREFIX="PowerManagement"

  DIWHEELDRIVE_PROJECT_PREFIX="DiWheelDrive"

  printf "\n"

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

  ###   SETUP                                                                ###

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

  # move to the project root directory

  cd $QTCREATOR_FILES_PATH

  for ARG in ${ARG_LIST[@]}; do

    case $ARG in

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

      ###   CLEAN STEP                                                       ###

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

      $CLEAN_FLAG)

        printf "removing project files..."

        # remove all files

        rm ${LIGHTRING_PROJECT_PREFIX}.includes 2> /dev/null

        rm ${LIGHTRING_PROJECT_PREFIX}.files 2> /dev/null

        rm ${LIGHTRING_PROJECT_PREFIX}.config 2> /dev/null

        rm ${LIGHTRING_PROJECT_PREFIX}.creator 2> /dev/null

        rm ${POWERMANAGEMENT_PROJECT_PREFIX}.includes 2> /dev/null

        rm ${POWERMANAGEMENT_PROJECT_PREFIX}.files 2> /dev/null

        rm ${POWERMANAGEMENT_PROJECT_PREFIX}.config 2> /dev/null

        rm ${POWERMANAGEMENT_PROJECT_PREFIX}.creator 2> /dev/null

        rm ${DIWHEELDRIVE_PROJECT_PREFIX}.includes 2> /dev/null

        rm ${DIWHEELDRIVE_PROJECT_PREFIX}.files 2> /dev/null

        rm ${DIWHEELDRIVE_PROJECT_PREFIX}.config 2> /dev/null

        rm ${DIWHEELDRIVE_PROJECT_PREFIX}.creator 2> /dev/null

        printf "\tdone\n"

        ;;

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

      ###   WIPE STEP                                                        ###

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

      $WIPE_FLAG)

        printf "removing .user project files..."

        # remove all user files

        rm ${POWERMANAGEMENT_PROJECT_PREFIX}.creator.user 2> /dev/null

        rm ${DIWHEELDRIVE_PROJECT_PREFIX}.creator.user 2> /dev/null

        rm ${LIGHTRING_PROJECT_PREFIX}.creator.user 2> /dev/null

        printf "\tdone\n"

        ;;

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

      ###   LIGHTRING SETUP                                                  ###

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

      $LIGHTRING_FLAG)

        printf "creating project files for ${LIGHTRING_PROJECT_PREFIX} (STM32F103RET6)..."

        # generate a file that contains all subdirectories as includes (but ignore hidden and documentation directories)

        find $ARM_NONE_EABI_GCC_INCLUDE_PATH -type d > ${LIGHTRING_PROJECT_PREFIX}.includes

        find $COMMON_SOURCE_INCLUDE_PATH -type d | grep -v "ARMCM4_STM32" >> ${LIGHTRING_PROJECT_PREFIX}.includes

        find $LIGHTRING_PROJECT_ROOT_PATH -type d | grep -v "uip\|fatfs\|ethernetlib\|cmd\|ide" >> ${LIGHTRING_PROJECT_PREFIX}.includes

        # generate a file that specifies all files

        echo -n "" > ${LIGHTRING_PROJECT_PREFIX}.files

        for path in `cat ${LIGHTRING_PROJECT_PREFIX}.includes`; do

          find $path -maxdepth 1 -type f \( ! -iname ".*" \) | grep -v "/arm-none-eabi/" | grep -E ".*(\.h|\.c|\.x)$" >> ${LIGHTRING_PROJECT_PREFIX}.files

        done

        # generate a default project configuration file if none exists so far

        if [ ! -f ${LIGHTRING_PROJECT_PREFIX}.config ]; then

          echo -e "// Add predefined macros for your project here. For example:\n// #define YOUR_CONFIGURATION belongs here\n" > ${LIGHTRING_PROJECT_PREFIX}.config

        fi

        # generate a default .creator file if none exists so far

        if [ ! -f ${LIGHTRING_PROJECT_PREFIX}.creator ]; then

          echo -e "[general]\n" > ${LIGHTRING_PROJECT_PREFIX}.creator

        fi

        printf "\tdone\n"

        ;;

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

      ###   POWERMANAGEMENT SETUP                                            ###

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

      $POWERMANAGEMENT_FLAG)

        printf "creating project files for ${POWERMANAGEMENT_PROJECT_PREFIX} (STM32F405RGT6)..."

        # generate a file that contains all subdirectories as includes (but ignore hidden and documentation directories)

        find $ARM_NONE_EABI_GCC_INCLUDE_PATH -type d > ${POWERMANAGEMENT_PROJECT_PREFIX}.includes

        find $COMMON_SOURCE_INCLUDE_PATH -type d | grep -v "ARMCM3_STM32" >> ${POWERMANAGEMENT_PROJECT_PREFIX}.includes

        find $POWERMANAGEMENT_PROJECT_ROOT_PATH -type d | grep -v "uip\|fatfs\|ethernetlib\|cmd\|ide" >> ${POWERMANAGEMENT_PROJECT_PREFIX}.includes

        # generate a file that specifies all files

        echo -n "" > ${POWERMANAGEMENT_PROJECT_PREFIX}.files

        for path in `cat ${POWERMANAGEMENT_PROJECT_PREFIX}.includes`; do

          find $path -maxdepth 1 -type f \( ! -iname ".*" \) | grep -v "/arm-none-eabi/" | grep -E ".*(\.h|\.c|\.x)$" >> ${POWERMANAGEMENT_PROJECT_PREFIX}.files

        done

        # generate a default project configuration file if none exists so far

        if [ ! -f ${POWERMANAGEMENT_PROJECT_PREFIX}.config ]; then

          echo -e "// Add predefined macros for your project here. For example:\n// #define YOUR_CONFIGURATION belongs here\n" > ${POWERMANAGEMENT_PROJECT_PREFIX}.config

        fi

        # generate a default .creator file if none exists so far

        if [ ! -f ${POWERMANAGEMENT_PROJECT_PREFIX}.creator ]; then

          echo -e "[general]\n" > ${POWERMANAGEMENT_PROJECT_PREFIX}.creator

        fi

        printf "\tdone\n"

        ;;

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

      ###   DIWHEELDRIVE SETUP                                               ###

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

      $DIWHEELDRIVE_FLAG)

        printf "creating project files for ${DIWHEELDRIVE_PROJECT_PREFIX} (STM32F103RET6)..."

        # generate a file that contains all subdirectories as includes (but ignore hidden and documentation directories)

        find $ARM_NONE_EABI_GCC_INCLUDE_PATH -type d > ${DIWHEELDRIVE_PROJECT_PREFIX}.includes

        find $COMMON_SOURCE_INCLUDE_PATH -type d | grep -v "ARMCM4_STM32" >> ${DIWHEELDRIVE_PROJECT_PREFIX}.includes

        find $DIWHEELDRIVE_PROJECT_ROOT_PATH -type d | grep -v "uip\|fatfs\|ethernetlib\|cmd\|ide" >> ${DIWHEELDRIVE_PROJECT_PREFIX}.includes

        # generate a file that specifies all files

        echo -n "" > ${DIWHEELDRIVE_PROJECT_PREFIX}.files

        for path in `cat ${DIWHEELDRIVE_PROJECT_PREFIX}.includes`; do

          find $path -maxdepth 1 -type f \( ! -iname ".*" \) | grep -v "/arm-none-eabi/" | grep -E ".*(\.h|\.c|\.x)$" >> ${DIWHEELDRIVE_PROJECT_PREFIX}.files

        done

        # generate a default project configuration file if none exists so far

        if [ ! -f ${DIWHEELDRIVE_PROJECT_PREFIX}.config ]; then

          echo -e "// Add predefined macros for your project here. For example:\n// #define YOUR_CONFIGURATION belongs here\n" > ${DIWHEELDRIVE_PROJECT_PREFIX}.config

        fi

        # generate a default .creator file if none exists so far

        if [ ! -f ${DIWHEELDRIVE_PROJECT_PREFIX}.creator ]; then

          echo -e "[general]\n" > ${DIWHEELDRIVE_PROJECT_PREFIX}.creator

        fi

        printf "\tdone\n"

        ;;

    esac

  done

fi

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

###   OUTRO                                                                  ###

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

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

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

# Robot (AMiRo) platform.                                                      #

# Copyright (C) 2016..2017  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

# initial info text (can be disabled with 'no_info' as last argument)

if [[ ! ${!#} = "no_info" ]]; then

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

  printf "#                                                                    #\n"

  printf "#                  Welcome to the AMiRo-BLT setup!                   #\n"

  printf "#                                                                    #\n"

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

  printf "#                                                                    #\n"

  printf "# Copyright (c) 2016..2017  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"

  printf "\n"

fi

# initialization of variables

ARG_IDX=1

USER_INPUT=${!ARG_IDX}

while [[ ! $USER_INPUT =~ ^[Ee]$ ]]; do

  # main menu info prompt and selection

  printf "AMiRo-BLT setup\n"

  printf "===============\n"

  printf "\n"

  if [[ -z $USER_INPUT || $USER_INPUT == "no_info" ]]; then

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

    printf "    [S] - SerialBoot flashing tool setup\n"

    printf "    [Q] - setup QtCreator projects\n"

    printf "    [E] - exit this setup\n"

    while [[ ! $USER_INPUT =~ ^[SsQqEe]$ ]]; do

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

      if [[ ! $USER_INPUT =~ ^[SsQqEe]$ ]]; then

        printf "[%s] is no valid action. \n" $USER_INPUT

      fi

    done

    printf "\n"

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

    printf "\n"

  fi

  # action selection

  case $USER_INPUT in

    # SerailBoot setup

    S|s)

      # print setup header

      printf "SerialBoot setup\n"

      printf "================\n"

      printf "\n"

      USER_DIR=${PWD}

      cd $(dirname ${BASH_SOURCE[0]})/Host/Source/SerialBoot

      BUILD_SERIALBOOT=true

      # test for existing binary

      if [ -f build/SerialBoot ]; then

        printf "WARNING: SerialBoot binary already exists.\n"

        read -p "Would you like to delete and rebuild it? [Y|n] " -n 1 -i "Y" -e USER_INPUT

        if [[ $USER_INPUT =~ ^[Yy]$ ]]; then

          BUILD_SERIALBOOT=true

          rm -rf build/

        elif [[ ! $USER_INPUT =~ ^[YyNn]$ ]]; then

          BUILD_SERIALBOOT=false

          printf "'%s' is no valid selection. Aborting setup.\n" $USER_INPUT

        else

          BUILD_SERIALBOOT=false

        fi

      fi

      # build the tool, if requested

      if [ $BUILD_SERIALBOOT = true ]; then

        mkdir build

        cd build

        cmake ..

        make

      fi

      cd $USER_DIR

      ;;

    # QtCreator setup

    Q|q)

      # calling the script with no arguments prints the help and returns

      source $(dirname ${BASH_SOURCE[0]})/ide/QtCreator/QtCreatorSetup.sh "no_info"

      printf "\n"

      # set deafult arguments and call the script again

      USER_INPUT="clean all"

      read -p "select commands: " -i "$USER_INPUT" -e USER_INPUT

      printf "\n"

      source $(dirname ${BASH_SOURCE[0]})/ide/QtCreator/QtCreatorSetup.sh "no_info" $USER_INPUT

      ;;

    # exit

    E|e)

      break;

      ;;

    # sanity check

    *)

      printf "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"

      printf "ERROR (${LINENO}): unexpected state; aborting script\n"

      printf "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"

      printf "\n"

      exit

      ;;

  esac

  printf "\n"

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

  printf "\n"

  let ARG_IDX++

  USER_INPUT=${!ARG_IDX}

done