AMiRo-OS

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

# AMiRo-OS is an operating system designed 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).                              #

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

#!/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 QtCreator setup!                   #\n"

  printf "#                                                                    #\n"

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

  printf "#                                                                    #\n"

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

  printf "\n"

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

  printf "              Print this help text.\n"

  printf "          -c, --clean\n"

  printf "              Delete project files.\n"

  printf "          -w, --wipe\n"

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

  printf "          --LightRing\n"

  printf "              Create project for the LightRing module.\n"

  printf "          --PowerManagement\n"

  printf "              Create project for the PowerManagement module.\n"

  printf "          --DiWheelDrive\n"

  printf "              Create project for the DiWheelDrive module.\n"

  printf "          -a, --all\n"

  printf "              Create projects for all modules.\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 amiroosdir=$(realpath $(dirname $(realpath ${BASH_SOURCE[0]}))/../../../)

  local input=""

  read -p "Path where to create/delete project files: " -i $amiroosdir -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.

#

function retrieveGccIncludeDir {

  # retrieve binary path or link

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

  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

    eval $1=$(realpath $(dirname ${binpath})/../arm-none-eabi/include/)

    return 0

  fi

}

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

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

#

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

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

#                 Path where to delete the project files.

#             -o, --out <var>

#                 Variable to store the path to.

#             -w, --wipe

#                 Delete .user files as well.

# return:

#  -  0: no error

#  -  1: warning: function aborted by user

#  - -1: error: unexpected user input

function deleteProjects {

  local projectdir=""

  local outvar=""

  local wipe=false

  # 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;;

        -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

  # print message

  if [ $wipe != true ]; then

    printInfo "deleting all QtCreator project files (*.includes, *.files, *.config, and *.creator)\n"

  else

    printInfo "deleting all QtCreator project files (*.includes, *.files, *.config, *.creator, and *.user)\n"

  fi

  # read project directory if required

  if [ -z "$projectdir" ]; then

    getProjectDir projectdir

  fi

  # remove all project files

  rm ${projectdir}/LightRing.includes 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/PowerManagement.includes 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/DiWheelDrive.includes 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/LightRing.files 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/PowerManagement.files 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/DiWheelDrive.files 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/LightRing.config 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/PowerManagement.config 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/DiWheelDrive.config 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/LightRing.creator 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/PowerManagement.creator 2>&1 | tee -a $LOG_FILE

  rm ${projectdir}/DiWheelDrive.creator 2>&1 | tee -a $LOG_FILE

  if [ $wipe == true ]; then

    rm ${projectdir}/LightRing.creator.user 2>&1 | tee -a $LOG_FILE

    rm ${projectdir}/PowerManagement.creator.user 2>&1 | tee -a $LOG_FILE

    rm ${projectdir}/DiWheelDrive.creator.user 2>&1 | tee -a $LOG_FILE

  fi

  # store the path to the output variable, if required

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

    eval $outvar="$projectdir"

  fi

  return 0

}

### create LightRing project files #############################################

# Create project files for the LightRing module.

#

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

# arguments:  -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.

# return:     0

#                 No error or warning occurred.

#

function createLightRingProject {

  local userdir=$(pwd)

  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

  # print message

  printInfo "creating QtCreator project files for the LightRing module...\n"

  # read absolute project directory if required

  if [ -z "$projectdir" ]; then

    getProjectDir projectdir

  fi

  # retrieve absolute GCC include dir

  if [ -z "$gccincludedir" ]; then

    retrieveGccIncludeDir gccincludedir

  fi

  # move to project directory

  cd $projectdir

  # AMiRo-OS, ChibiOS, AMiRo-BLT and AMiRo-LLD relative root directories

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

  local chibiosrootdir=$(realpath ${amiroosrootdir}/kernel/ChibiOS)

  local amirobltrootdir=$(realpath ${amiroosrootdir}/bootloader/AMiRo-BLT)

  local amirolldrootdir=$(realpath ${amiroosrootdir}/periphery-lld/AMiRo-LLD)

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

  find $gccincludedir -type d > ${projectdir}/LightRing.includes

  echo $amiroosrootdir >> ${projectdir}/LightRing.includes

  find $amiroosrootdir/modules -type d | grep -v "/doc\|/build\|/.dep\|/PowerManagement\|/DiWheelDrive" >> ${projectdir}/LightRing.includes

  find $amiroosrootdir/core -type d >> ${projectdir}/LightRing.includes

  find $amiroosrootdir/unittests -type d >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/common/abstractions/cmsis_os$" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/common/ext/CMSIS/(include|ST/STM32F1xx)$" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/common/oslib/(include|src)$" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/common/ports/ARMCMx(/compilers/GCC)?$" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/common/startup/ARMCMx/(compilers/GCC|devices/STM32F1xx)$" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/(include|src)$" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/lib/streams" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/osal/(lib|rt)$" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/ports/(common/ARMCMx|STM32/(LLD/(CANv1|DACv1|DMAv1|EXTIv1|GPIOv1|I2Cv1|RTCv1|SDIOv1|SPIv1|TIMv1|USARTv1|USBv1|xWDGv1)|STM32F1xx))$" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/license$" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/rt/(include|src)$" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/os/various/(shell|cpp_wrappers)" >> ${projectdir}/LightRing.includes

  find $chibiosrootdir -type d | grep -E "/test/(lib|rt/source/test)$" >> ${projectdir}/LightRing.includes

  find $amirobltrootdir -type d | grep -E "/Target/Source/AMiRo$" >> ${projectdir}/LightRing.includes

  echo "$(realpath ${amirolldrootdir}/..)" >> ${projectdir}/LightRing.includes

  find $amirolldrootdir -type d | grep -v "/doc" >> ${projectdir}/LightRing.includes

  # generate a file that specifies all files

  echo -n "" > ${projectdir}/LightRing.files

  for path in `cat ${projectdir}/LightRing.includes`; do

    find $path -maxdepth 1 -type f \( ! -iname ".*" \) |

      grep -Ev "^.*((/arm-none-eabi/)|(PowerManagement)|(DiWheelDrive)).*$" |

      grep -E  "^.*(\.s|\.S|\.h|\.c|\.hpp|\.cpp|\.tpp|\.ld)$" |

      grep -Ev "^${chibiosrootdir}/os/common/ext/CMSIS/ST/STM32F1xx/((stm32f1[^0x])|(stm32f10[^3])|(stm32f103[^x])|(stm32f103x[^e])).*$" |

      grep -Ev "^${chibiosrootdir}/os/common/ext/CMSIS/include/((core_[^c])|(core_c[^m])|(core_cm[^3A-Za-z])|(cmsis_[^g])|(cmsis_g[^c]|(cmsis_gc[^c])))" |

      grep -Ev "^${chibiosrootdir}/os/common/ports/ARMCMx/chcore_v[^7]m.*$" |

      grep -Ev "^${chibiosrootdir}/os/common/ports/ARMCMx/compilers/GCC/.*_v[^7]m.*$" |

      grep -Ev "^${chibiosrootdir}/os/common/startup/ARMCMx/compilers/GCC/.*_v[^7]m.*$" |

      grep -Ev "^${chibiosrootdir}/os/hal/ports/STM32/STM32F1xx/.*f10[^3].*$" |

      grep -Ev "^${amirobltrootdir}/Target/Source/AMiRo/helper.*$" >> ${projectdir}/LightRing.files;

  done

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

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

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

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

  fi

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

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

    echo "[general]" > ${projectdir}/LightRing.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 PowerManagement project files #######################################

# Create project files for the PowerManagement module.

#

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

# arguments:  -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.

# return:     0

#                 No error or warning occurred.

#

function createPowerManagementProject {

  local userdir=$(pwd)

  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

  # print message

  printInfo "creating QtCreator project files for the PowerManagement module...\n"

  # read absolute project directory if required

  if [ -z "$projectdir" ]; then

    getProjectDir projectdir

  fi

  # retrieve absolute GCC include dir

  if [ -z "$gccincludedir" ]; then

    retrieveGccIncludeDir gccincludedir

  fi

  # move to project directory

  cd $projectdir

  # AMiRo-OS, ChibiOS, AMiRo-BLT and AMiRo-LLD relative root directories

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

  local chibiosrootdir=$(realpath ${amiroosrootdir}/kernel/ChibiOS)

  local amirobltrootdir=$(realpath ${amiroosrootdir}/bootloader/AMiRo-BLT)

  local amirolldrootdir=$(realpath ${amiroosrootdir}/periphery-lld/AMiRo-LLD)

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

  find $gccincludedir -type d > ${projectdir}/PowerManagement.includes

  echo $amiroosrootdir >> ${projectdir}/PowerManagement.includes

  find $amiroosrootdir/modules -type d | grep -v "/doc\|/build\|/.dep\|/LightRing\|/DiWheelDrive" >> ${projectdir}/PowerManagement.includes

  find $amiroosrootdir/core -type d >> ${projectdir}/PowerManagement.includes

  find $amiroosrootdir/unittests -type d >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/common/abstractions/cmsis_os$" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/common/ext/CMSIS/(include|ST/STM32F4xx)$" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/common/oslib/(include|src)$" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/common/ports/ARMCMx(/compilers/GCC)?$" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/common/startup/ARMCMx/(compilers/GCC|devices/STM32F4xx)$" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/(include|src)$" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/lib/streams" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/osal/(lib|rt)$" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/ports/(common/ARMCMx|STM32/(LLD/(ADCv2|CANv1|DACv1|DMAv2|EXTIv1|GPIOv2|I2Cv1|MACv1|OTGv1|RTCv2|SDIOv1|SPIv1|TIMv1|USARTv1|USBv1|xWDGv1)|STM32F4xx))$" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/license$" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/rt/(include|src)$" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/os/various/(shell|cpp_wrappers)" >> ${projectdir}/PowerManagement.includes

  find $chibiosrootdir -type d | grep -E "/test/(lib|rt/source/test)$" >> ${projectdir}/PowerManagement.includes

  find $amirobltrootdir -type d | grep -E "/Target/Source/AMiRo$" >> ${projectdir}/PowerManagement.includes

  echo "$(realpath ${amirolldrootdir}/..)" >> ${projectdir}/PowerManagement.includes

  find $amirolldrootdir -type d | grep -v "/doc" >> ${projectdir}/PowerManagement.includes

  # generate a file that specifies all files

  echo -n "" > ${projectdir}/PowerManagement.files

  for path in `cat ${projectdir}/PowerManagement.includes`; do

    find $path -maxdepth 1 -type f \( ! -iname ".*" \) |

      grep -Ev "^.*((/arm-none-eabi/)|(LightRing)|(DiWheelDrive)).*$" |

      grep -E  "^.*(\.s|\.S|\.h|\.c|\.hpp|\.cpp|\.tpp|\.ld)$" |

      grep -Ev "^${chibiosrootdir}/os/common/ext/CMSIS/ST/STM32F4xx/((stm32f4[^0x])|(stm32f40[^5])).*$" |

      grep -Ev "^${chibiosrootdir}/os/common/ext/CMSIS/include/((core_[^c])|(core_c[^m])|(core_cm[^4A-Za-z])|(cmsis_[^g])|(cmsis_g[^c]|(cmsis_gc[^c])))" |

      grep -Ev "^${chibiosrootdir}/os/common/ports/ARMCMx/chcore_v[^7]m.*$" |

      grep -Ev "^${chibiosrootdir}/os/common/ports/ARMCMx/compilers/GCC/.*_v[^7]m.*$" |

      grep -Ev "^${chibiosrootdir}/os/common/startup/ARMCMx/compilers/GCC/.*_v[^7]m.*$" |

      grep -Ev "^${amirobltrootdir}/Target/Source/AMiRo/helper.*$" >> ${projectdir}/PowerManagement.files;

  done

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

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

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

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

  fi

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

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

    echo "[general]" > ${projectdir}/PowerManagement.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 DiWheelDrive project files ##########################################

# Create project files for the DiWheelDrive module.

#

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

# arguments:  -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.

# return:     0

#                 No error or warning occurred.

#

function createDiWheelDriveProject {

  local userdir=$(pwd)

  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

  # print message

  printInfo "creating QtCreator project files for the DiWheelDrive module...\n"

  # read absolute project directory if required

  if [ -z "$projectdir" ]; then

    getProjectDir projectdir

  fi

  # retrieve absolute GCC include dir

  if [ -z "$gccincludedir" ]; then

    retrieveGccIncludeDir gccincludedir

  fi

  # move to project directory

  cd $projectdir

  # AMiRo-OS, ChibiOS, AMiRo-BLT and AMiRo-LLD relative root directories

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

  local chibiosrootdir=$(realpath ${amiroosrootdir}/kernel/ChibiOS)

  local amirobltrootdir=$(realpath ${amiroosrootdir}/bootloader/AMiRo-BLT)

  local amirolldrootdir=$(realpath ${amiroosrootdir}/periphery-lld/AMiRo-LLD)

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

  find $gccincludedir -type d > ${projectdir}/DiWheelDrive.includes

  echo $amiroosrootdir >> ${projectdir}/DiWheelDrive.includes

  find $amiroosrootdir/modules -type d | grep -v "/doc\|/build\|/.dep\|/LightRing\|/PowerManagement" >> ${projectdir}/DiWheelDrive.includes

  find $amiroosrootdir/core -type d >> ${projectdir}/DiWheelDrive.includes

  find $amiroosrootdir/unittests -type d >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/common/abstractions/cmsis_os$" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/common/ext/CMSIS/(include|ST/STM32F1xx)$" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/common/oslib/(include|src)$" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/common/ports/ARMCMx(/compilers/GCC)?$" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/common/startup/ARMCMx/(compilers/GCC|devices/STM32F1xx)$" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/(include|src)$" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/lib/streams" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/osal/(lib|rt)$" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/hal/ports/(common/ARMCMx|STM32/(LLD/(CANv1|DACv1|DMAv1|EXTIv1|GPIOv1|I2Cv1|RTCv1|SDIOv1|SPIv1|TIMv1|USARTv1|USBv1|xWDGv1)|STM32F1xx))$" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/license$" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/rt/(include|src)$" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/os/various/(shell|cpp_wrappers)" >> ${projectdir}/DiWheelDrive.includes

  find $chibiosrootdir -type d | grep -E "/test/(lib|rt/source/test)$" >> ${projectdir}/DiWheelDrive.includes

  find $amirobltrootdir -type d | grep -E "/Target/Source/AMiRo$" >> ${projectdir}/DiWheelDrive.includes

  echo "$(realpath ${amirolldrootdir}/..)" >> ${projectdir}/DiWheelDrive.includes

  find $amirolldrootdir -type d | grep -v "/doc" >> ${projectdir}/DiWheelDrive.includes

  # generate a file that specifies all files

  echo -n "" > ${projectdir}/DiWheelDrive.files

  for path in `cat ${projectdir}/DiWheelDrive.includes`; do

    find $path -maxdepth 1 -type f \( ! -iname ".*" \) |

      grep -Ev "^.*((/arm-none-eabi/)|(LightRing)|(PowerManagement)).*$" |

      grep -E  "^.*(\.s|\.S|\.h|\.c|\.hpp|\.cpp|\.tpp|\.ld)$" |

      grep -Ev "^${chibiosrootdir}/os/common/ext/CMSIS/ST/STM32F1xx/((stm32f1[^0x])|(stm32f10[^3])|(stm32f103[^x])|(stm32f103x[^e])).*$" |

      grep -Ev "^${chibiosrootdir}/os/common/ext/CMSIS/include/((core_[^c])|(core_c[^m])|(core_cm[^3A-Za-z])|(cmsis_[^g])|(cmsis_g[^c]|(cmsis_gc[^c])))" |

      grep -Ev "^${chibiosrootdir}/os/common/ports/ARMCMx/chcore_v[^7]m.*$" |

      grep -Ev "^${chibiosrootdir}/os/common/ports/ARMCMx/compilers/GCC/.*_v[^7]m.*$" |

      grep -Ev "^${chibiosrootdir}/os/common/startup/ARMCMx/compilers/GCC/.*_v[^7]m.*$" |

      grep -Ev "^${chibiosrootdir}/os/hal/ports/STM32/STM32F1xx/.*f10[^3].*$" |

      grep -Ev "^${amirobltrootdir}/Target/Source/AMiRo/helper.*$" >> ${projectdir}/DiWheelDrive.files;

  done

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

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

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

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

  fi

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

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

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

# arguments:  n/a

# return:     0

#                 No error or warning occurred.

#

function createAllProjects {

  # print message

  printInfo "creating QtCreator project files for the DiWheelDrive module...\n"

  # read project directory

  local projectdir=""

  getProjectDir projectdir

  printInfo "files will be created in $projectdir\n"

  # retrieve gcc-arm-none-eabi include dir

  retrieveGccIncludeDir gccincludedir

  # create projects

  createLightRingProject --path="$projectdir" --gcc="$gccincludedir"

  createPowerManagementProject --path="$projectdir" --gcc="$gccincludedir"

  createDiWheelDriveProject --path="$projectdir" --gcc="$gccincludedir"

  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"

  # parse arguments

  local otherargs=()

  while [ $# -gt 0 ]; do

    if ( parseIsOption $1 ); then

      case "$1" in

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

          shift 1;;

        -c|--clean)

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

        -w|--wipe)

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

        --LightRing)

          createLightRingProject; printf "\n"; shift 1;;

        --PowerManagement)

          createPowerManagementProject; printf "\n"; shift 1;;

        --DiWheelDrive)

          createDiWheelDriveProject; printf "\n"; shift 1;;

        -a|--all)

          createAllProjects; 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 "  [C] - clean project files\n"

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

    printf "  [L] - create a project for the LightRing module\n"

    printf "  [P] - create a project for the PowerManagement module\n"

    printf "  [D] - create a project for the DiWheelDrive module\n"

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

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

    local userinput=""

    readUserInput "CcWwLlPpDdAaQq" userinput

    printf "\n"

    # evaluate user selection

    case "$userinput" in

      C|c)

        deleteProjects; printf "\n";;

      W|w)

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

      L|l)

        createLightRingProject; printf "\n";;

      P|p)

        createPowerManagementProject; printf "\n";;

      D|d)

        createDiWheelDriveProject; printf "\n";;

      A|a)

        createAllProjects; printf "\n";;

      Q|q)

        quitScript;;

      *) # sanity check (exit with error)

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

    esac

  done

  exit 0

}

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

# SCRIPT ENTRY POINT                                                           #

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

main "$@"