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amiro-os / bootloader / bootloadersetup.sh @ bac4d84a

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1 e545e620 Thomas Schöpping
################################################################################
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# AMiRo-OS is an operating system designed for the Autonomous Mini Robot       #
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# (AMiRo) platform.                                                            #
4 bac4d84a Thomas Schöpping
# Copyright (C) 2016..2019  Thomas Schöpping et al.                            #
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#                                                                              #
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# This program is free software: you can redistribute it and/or modify         #
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# it under the terms of the GNU General Public License as published by         #
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# the Free Software Foundation, either version 3 of the License, or            #
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# (at your option) any later version.                                          #
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#                                                                              #
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# This program is distributed in the hope that it will be useful,              #
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# but WITHOUT ANY WARRANTY; without even the implied warranty of               #
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                #
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# GNU General Public License for more details.                                 #
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#                                                                              #
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# You should have received a copy of the GNU General Public License            #
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# along with this program.  If not, see <http://www.gnu.org/licenses/>.        #
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#                                                                              #
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# This research/work was supported by the Cluster of Excellence Cognitive      #
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# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #
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# funded by the German Research Foundation (DFG).                              #
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################################################################################
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24
#!/bin/bash
25
26
################################################################################
27
# GENERIC FUNCTIONS                                                            #
28
################################################################################
29
30
### print an error message #####################################################
31
# Prints a error <message> to standard output.
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#If variable 'LOG_FILE' is specified, the message is also appended to the given file.
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#
34
# usage:      printError <message>
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# arguments:  <message>
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#                 Message string to print.
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# return:     n/a
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#
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function printError {
40
  local string="ERROR:   $1"
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  # if a log file is specified
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  if [ -n "$LOG_FILE" ]; then
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    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE
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  fi
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  printf "$(tput setaf 1)>>> $string$(tput sgr 0)" 1>&2
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}
47
48
### print a warning message ####################################################
49
# Prints a warning <message> to standard output.
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#If variable 'LOG_FILE' is specified, the message is also appended to the given file.
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#
52
# usage:      printMessage <message>
53
# arguments:  <message>
54
#                 Message string to print.
55
# return:     n/a
56
#
57
function printWarning {
58
  local string="WARNING: $1"
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  # if a log file is specified
60
  if [ -n "$LOG_FILE" ]; then
61
    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE
62
  fi
63
  printf "$(tput setaf 3)>>> $string$(tput sgr 0)"
64
}
65
66
### print an information message ###############################################
67
# Prints an information <message> to standard output.
68
#If variable 'LOG_FILE' is specified, the message is also appended to the given file.
69
#
70
# usage:      printInfo <message>
71
# arguments:  <message>
72
#                 Message string to print.
73
# return:     n/a
74
#
75
function printInfo {
76
  local string="INFO:    $1"
77
  # if a log file is specified
78
  if [ -n "$LOG_FILE" ]; then
79
    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE
80
  fi
81
  printf "$(tput setaf 2)>>> $string$(tput sgr 0)"
82
}
83
84
### print a message to file ####################################################
85
# Appends a <message> to a log file, specified by the variable 'LOG_FILE'.
86
#
87
# usage       printLog <message>
88
# arguments:  <message>
89
#                 Message string to print.
90
# return:     n/a
91
#
92
function printLog {
93
  local string="LOG:     $1"
94
  # if a log file is specified
95
  if [ -n "$LOG_FILE" ]; then
96
    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE
97
  fi
98
}
99
100
### exit the script normally ###################################################
101
# Prints a delimiter and exits the script normally (returns 0).
102
#
103
# usage:      quitScript
104
# arguments:  n/a
105
# return:     0
106
#                 No error or warning occurred.
107
#
108
function quitScript {
109
  printInfo "exiting $(realpath ${BASH_SOURCE[0]})\n"
110
  printf "\n"
111
  printf "######################################################################\n"
112
  exit 0
113
}
114
115
### read a user input ##########################################################
116
# Reads a single character user input from a set up <options> and stores it in
117
# a given <return> variable.
118
#
119
# usage:      readUserInput <options> <return>
120
# arguments:  <options>
121
#                 String definiing the set of valid characters.
122
#                 If the string is empty, the user can input any character.
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#             <return>
124
#                 Variable to store the selected character to.
125
# return:     n/a
126
#
127
function readUserInput {
128
  local input=""
129
  # read user input
130
  while [ -z $input ] || ( [ -n "$1" ] && [[ ! $input =~ ^[$1]$ ]] ); do
131
    read -p "your selection: " -n 1 -e input
132
    if [ -z $input ] || ( [ -n "$1" ] && [[ ! $input =~ ^[$1]$ ]] ); then
133
      printWarning "[$input] is no valid action\n"
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    fi
135
  done
136
  printLog "[$input] has been selected\n"
137
  eval $2="$input"
138
}
139
140
### check whether argument is an option ########################################
141
# Checks a <string> whether it is an option.
142
# Options are defined to either start with '--' followed by any string, or
143
# to start with a single '-' followed by a single character, or
144
# to start with a single '-' followed by a single character, a '=' and any string.
145
# Examples: '--option', '--option=arg', '-o', '-o=arg', '--'
146
#
147
# usage:      parseIsOption <string>
148
# arguments:  <string>
149
#                 A string to check whether it is an option.
150
# return:     0
151
#                 <string> is an option.
152
#             -1
153
#                 <string> is not an option.
154
#
155
function parseIsOption {
156
  if [[ "$1" =~ ^-(.$|.=.*) ]] || [[ "$1" =~ ^--.* ]]; then
157
    return 0
158
  else
159
    return -1
160
  fi
161
}
162
163
### set the log file ###########################################################
164
# Sets a specified <infile> as log file and checks whether it already exists.
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# If so, the log may either be appended to the file, its content can be cleared,
166
# or no log is generated at all.
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# The resulting path is stored in <outvar>.
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#
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# usage:      setLogFile [--option=<option>] [--quiet] <infile> <outvar>
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# arguments:  --option=<option>
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#                 Select what to do if <file> already exists.
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#                 Possible values are 'a', 'c', 'r' and 'n'.
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#                 - a: append (starts with a separator)
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#                 - c: continue (does not insert a seperator)
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#                 - r: delete and restart
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#                 - n: no log
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#                 If no option is secified but <file> exists, an interactive selection is provided.
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#             --quiet
179
#                 Suppress all messages.
180
#             <infile>
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#                 Path of the wanted log file.
182
#             <outvar>
183
#                 Variable to store the path of the log file to.
184
# return:     0
185
#                 No error or warning occurred.
186
#             -1
187
#                 Error: invalid input
188
#
189
function setLogFile {
190
  local filepath=""
191
  local option=""
192
  local quiet=false
193
194
  # parse arguments
195
  local otherargs=()
196
  while [ $# -gt 0 ]; do
197
    if ( parseIsOption $1 ); then
198
      case "$1" in
199
        -o=*|--option=*)
200
          option=${1#*=}; shift 1;;
201
        -o*|--option*)
202
          option="$2"; shift 2;;
203
        -q|--quiet)
204
          quiet=true; shift 1;;
205
        *)
206
          printError "invalid option: $1\n"; shift 1;;
207
      esac
208
    else
209
      otherargs+=("$1")
210
      shift 1
211
    fi
212
  done
213
  filepath=$(realpath ${otherargs[0]})
214
215
  # if file already exists
216
  if [ -e $filepath ]; then
217
    # if no option was specified, ask what to do
218
    if [ -z "$option" ]; then
219
      printWarning "log file $filepath already esists\n"
220
      local userinput=""
221
      printf "Select what to do:\n"
222
      printf "  [A] - append log\n"
223
      printf "  [R] - restart log (delete existing file)\n"
224
      printf "  [N] - no log\n"
225
      readUserInput "AaRrNn" userinput
226
      option=${userinput,,}
227
    fi
228
    # evaluate option
229
    case "$option" in
230
      a|c)
231
        if [ $quiet = false ]; then
232
          printInfo "appending log to $filepath\n"
233
        fi
234
        if [ $option != c ]; then
235
          printf "\n" >> $filepath
236
          printf "######################################################################\n" >> $filepath
237
          printf "\n" >> $filepath
238
        fi
239
        ;;
240
      r)
241
        echo -n "" > $filepath
242
        if [ $quiet = false ]; then
243
          printInfo "content of $filepath wiped\n"
244
        fi
245
        ;;
246
      n)
247
        if [ $quiet = false ]; then
248
          printInfo "no log file will be generated\n"
249
        fi
250
        filepath=""
251
        ;;
252
      *) # sanity check (return error)
253
        printError "unexpected argument: $option\n"; return -1;;
254
    esac
255
  else
256
    if [ $quiet = false ]; then
257
      printInfo "log file set to $filepath\n"
258
    fi
259
  fi
260
261
  eval ${otherargs[1]}="$filepath"
262
263
  return 0
264
}
265
266 57cbd1cd Thomas Schöpping
### check whether commands are available #######################################
267
# Checks whether the specified commands are available and can be executed.
268
#
269
# usage:      checkCommand [<command> <command> ...]
270
# arguments:  <command>
271
#                 Name of the command to check.
272
# return:     0
273
#                 All requested commands are available.
274
#             >0
275
#                 Number of requested commands that were not found.
276
#             -1
277
#                 No argument given.
278
#
279
function checkCommands {
280
  local status=0
281
282
  # return if no argument was specified
283
  if [ $# -eq 0 ]; then
284
    return -1
285
  fi
286
287
  # check all specified commands
288
  while [ $# -gt 0 ]; do
289
    command -v $1 &>/dev/null
290
    if [ $? -ne 0 ]; then
291
      printWarning "Command '$1' not available.\n"
292
      status=$((status + 1))
293
    fi
294
    shift 1
295
  done
296
297
  return $status
298
}
299
300 e545e620 Thomas Schöpping
################################################################################
301
# SPECIFIC FUNCTIONS                                                           #
302
################################################################################
303
304
### print welcome text #########################################################
305
# Prints a welcome message to standard out.
306
#
307
# usage:      printWelcomeText
308
# arguments:  n/a
309
# return:     n/a
310
#
311
function printWelcomeText {
312
  printf "######################################################################\n"
313
  printf "#                                                                    #\n"
314
  printf "#             Welcome to the AMiRo-BLT submodule setup!              #\n"
315
  printf "#                                                                    #\n"
316
  printf "######################################################################\n"
317
  printf "#                                                                    #\n"
318 bac4d84a Thomas Schöpping
  printf "# Copyright (c) 2016..2019  Thomas Schöpping                         #\n"
319 e545e620 Thomas Schöpping
  printf "#                                                                    #\n"
320
  printf "# This is free software; see the source for copying conditions.      #\n"
321
  printf "# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR  #\n"
322
  printf "# A PARTICULAR PURPOSE. The development of this software was         #\n"
323
  printf "# supported by the Excellence Cluster EXC 227 Cognitive Interaction  #\n"
324
  printf "# Technology. The Excellence Cluster EXC 227 is a grant of the       #\n"
325
  printf "# Deutsche Forschungsgemeinschaft (DFG) in the context of the German #\n"
326
  printf "# Excellence Initiative.                                             #\n"
327
  printf "#                                                                    #\n"
328
  printf "######################################################################\n"
329
}
330
331
### print help #################################################################
332
# Prints a help text to standard out.
333
#
334
# usage:      printHelp
335
# arguments:  n/a
336
# return:     n/a
337
#
338
function printHelp {
339
  printInfo "printing help text\n"
340
  printf "usage:    $(basename ${BASH_SOURCE[0]}) [-h|--help] [-i|--init] [-s|--setup] [-w|--wipe] [-q|--quit] [--log=<file>]\n"
341
  printf "options:  -h, --help\n"
342
  printf "              Print this help text.\n"
343
  printf "          -i, --init\n"
344
  printf "              Initialize the AMiRo-BLT submodule.\n"
345
  printf "          -s, --setup\n"
346
  printf "              Enter AMiRo-BLT setup.\n"
347
  printf "          -w, --wipe\n"
348
  printf "              Wipe the entire AMiRo-BLT submodule.\n"
349
  printf "          -q, --quit\n"
350
  printf "              Quit the script.\n"
351
  printf "          --log=<file> \n"
352
  printf "              Specify a log file.\n"
353
}
354
355
### initialize AMiRo-BLT submodule #############################################
356
# Initialize the AMiRo-BLT submodule.
357
#
358
# usage:      initAmiroBlt
359
# arguments:  n/a
360
# return:     0
361
#                 No error or warning occurred.
362
#             1
363
#                 Warning: Arborted by user.
364
#             -1
365
#                 Error: Unexpected user input.
366 57cbd1cd Thomas Schöpping
#             -2
367
#                 Error: Missing dependencies.
368 e545e620 Thomas Schöpping
#
369
function initAmiroBlt {
370
  printInfo "initializing AMiRo-BLT submodule...\n"
371
  local userdir=$(pwd)
372
  local bootloaderdir=$(dirname $(realpath ${BASH_SOURCE[0]}))
373
  local amirobltdir=${bootloaderdir}/AMiRo-BLT
374
375
  # if the AMiRo-BLT folder is not empty
376
  if [ ! -z "$(ls -A $amirobltdir)" ]; then
377
    printWarning "$(realpath $amirobltdir) is not empty. Delete and reinitialize? [y/n]\n"
378
    local userinput=""
379
    readUserInput "YyNn" userinput
380
    case $userinput in
381
      Y|y)
382
        wipeAmiroBlt
383
        ;;
384
      N|n)
385
        printWarning "AMiRo-BLT initialization aborted by user\n"
386
        return 1
387
        ;;
388
      *) # sanity check (return error)
389
        printError "unexpected input: $userinput\n"; return -1;;
390
    esac
391
  fi
392
393 57cbd1cd Thomas Schöpping
  # check dependencies
394
  checkCommands git
395
  if [ $? -ne 0 ]; then
396
    printError "Missing dependencies detected.\n"
397
    return -2
398
  fi
399
400 e545e620 Thomas Schöpping
  # initialize submodule to default branch
401
  cd $bootloaderdir
402
  git submodule update --init $amirobltdir 2>&1 | tee -a $LOG_FILE
403
  while [ ${PIPESTATUS[0]} -ne 0 ]; do
404
    printWarning "initialitaion failed. Retry? [y/n]\n"
405
    local userinput=""
406
    readUserInput "YyNn" userinput
407
    case "$userinput" in
408
      Y|y)
409
        git submodule update --init $amirobltdir 2>&1 | tee -a $LOG_FILE;;
410
      N|n)
411
        printWarning "AMiRo-BLT initialization aborted by user\n"
412
        cd $userdir
413
        return 1
414
        ;;
415
      *) # sanity check (return error)
416
        printError "unexpected input: $userinput\n"; return -1;;
417
    esac
418
  done
419
  cd $userdir
420
421
  return 0
422
}
423
424
### enter AMiRo-BLT setup ######################################################
425
# Enter AMiRo-BLT submodule setup.
426
#
427
# usage:      amiroBltSetup
428
# arguments:  n/a
429
# return:     0
430
#                 No error or warning occurred.
431
#             -1
432
#                 Error: AMiRo-BLT submodule not initialized yet.
433
#
434
function amiroBltSetup {
435
  local amirobltdir=$(dirname $(realpath ${BASH_SOURCE[0]}))/AMiRo-BLT
436
437
  # check if AMiRo-BLT submodule is initialized
438
  if [ -z "$(ls -A $amirobltdir)" ]; then
439
    printError "$amirobltdir is empty. Please initialize first.\n"
440
    return -1
441
  else
442
    printInfo "entering AMiRo-BLT setup\n"
443
    printf "\n"
444
    if [ -z "$LOG_FILE" ]; then
445
      ${amirobltdir}/setup.sh --noinfo
446
    else
447
      ${amirobltdir}/setup.sh --LOG="$LOG_FILE" --noinfo
448
    fi
449
    return 0
450
  fi
451
}
452
453
### reset AMiRo-BLT submodule and wipe directory ###############################
454
# Resets the AMiRo-BLT Git submodule and wipes the directory.
455
#
456
# usage:      wipeAmiroBlt
457
# arguments:  n/a
458 57cbd1cd Thomas Schöpping
# return:     0
459
#                 No error or warning occurred.
460
#             1
461
#                 Warning: AMiRo-BLT Git submodule already empty
462
#             2
463
#                 Warning: Aborted by user.
464
#             -1
465
#                 Error: Unexpected input occurred
466
#             -2
467
#                 Error: Missing dependencies.
468
#
469 e545e620 Thomas Schöpping
function wipeAmiroBlt {
470
  printInfo "reset and wipe Git submodule $amirobltdir\n"
471
  local userdir=$(pwd)
472
  local bootloaderdir=$(dirname $(realpath ${BASH_SOURCE[0]}))
473
  local amirobltdir=${bootloaderdir}/AMiRo-BLT
474
475 57cbd1cd Thomas Schöpping
  # check dependencies
476
  checkCommands git
477
  if [ $? -ne 0 ]; then
478
    printError "Missing dependencies detected.\n"
479
    return -2
480
  fi
481
482 e545e620 Thomas Schöpping
  # if the AMiRo-BLT folder is empty
483
  if [ -z "$(ls -A $amirobltdir)" ]; then
484
    printWarning "$amirobltdir is already empty\n"
485
    return 1
486
  else
487
    # get some information from Git
488
    cd $bootloaderdir
489
    local git_basehash=($(git ls-tree -d HEAD $amirobltdir)); git_basehash=${git_basehash[2]}
490
    cd $amirobltdir
491
    local git_branch_current=$(git rev-parse --abbrev-ref HEAD)
492
    local git_difftobase="$(git diff ${git_basehash}..HEAD)"
493
    local git_commits=$(git log --format=oneline ${git_basehash}..HEAD)
494
    local git_dirtyfiles=($(git ls-files -dmo --exclude-standard --exclude=/doc))
495
    cd $userdir
496
    local issues=0
497
    # if HEAD is ahead of submodule base commit
498
    if [ -n "$git_difftobase" ]; then
499
      issues=$((issues + 1))
500
      printWarning "HEAD is ahead of submodule base\n"
501
    fi
502
    # if there are untracked, modified, or deleted files
503
    if [ ${#git_dirtyfiles[@]} != 0 ]; then
504
      issues=$((issues + 1))
505
      printWarning "there are ${#git_dirtyfiles[@]} untracked, modified, or deleted files\n"
506
    fi
507
    if [ $issues -gt 0 ]; then
508
      local userinput=""
509
      printWarning "$issues issues detected. Do you want to continue? [y/n]\n"
510
      readUserInput "YyNn" userinput
511
      case "$userinput" in
512
        Y|y)
513
          ;;
514
        N|n)
515
          printfWarning "wiping AMiRo-BLT Git submodule aborted by user\n"
516
          return 2
517
          ;;
518
        *) # sanity check (return error)
519
          printError "unexpected input: $userinput\n"; return -1;;
520
      esac
521
    fi
522
523
    # checkout base commit and delete all local branches
524
    cd $bootloaderdir
525
    git submodule update --force --checkout $amirobltdir | tee -a $LOG_FILE
526
    cd $amirobltdir
527
    local git_branches=($(git for-each-ref --format="%(refname)"))
528
    for branch in $git_branches; do
529
      if [[ $branch = *"heads/"* ]]; then
530
        git branch -D ${branch##*/} | tee -a $LOG_FILE
531
      fi
532
    done
533
    cd $userdir
534
535
    # deinitialize AMiRo-BLT submodule and delete any remaining files
536
    cd $bootloaderdir
537
    git submodule deinit -f $amirobltdir 2>&1 | tee -a $LOG_FILE
538
    rm -rf $amirobltdir/*
539
    cd $userdir
540
541
    return 0
542
  fi
543
}
544
545
### main function of this script ###############################################
546
# Initializes or wipes the AMiRo-BLT Git submodule, and provides an entry point
547
# to its setup.
548
#
549
# usage:      see function printHelp
550
# arguments:  see function printHelp
551
# return:     0
552
#                 No error or warning occurred.
553
#
554
function main {
555
  # print welcome/info text if not suppressed
556
  if [[ $@ != *"--noinfo"* ]]; then
557
    printWelcomeText
558
  else
559
    printf "######################################################################\n"
560
  fi
561
  printf "\n"
562
563
  # if --help or -h was specified, print the help text and exit
564
  if [[ $@ == *"--help"* || $@ == *"-h"* ]]; then
565
    printHelp
566
    printf "\n"
567
    quitScript
568
  fi
569
570
  # set log file if specified
571
  if [[ $@ == *"--log"* ]] || [[ $@ == *"--LOG"* ]]; then
572
    # get the parameter (file name)
573
    local cmdidx=1
574
    while [[ ! "${!cmdidx}" = "--log"* ]] && [[ ! "${!cmdidx}" = "--LOG"* ]]; do
575
      cmdidx=$[cmdidx + 1]
576
    done
577
    local cmd="${!cmdidx}"
578
    local logfile=""
579
    if [[ "$cmd" = "--log="* ]] || [[ "$cmd" = "--LOG="* ]]; then
580
      logfile=${cmd#*=}
581
    else
582
      local filenameidx=$((cmdidx + 1))
583
      logfile="${!filenameidx}"
584
    fi
585
    # optionally force silent appending
586
    if [[ "$cmd" = "--LOG"* ]]; then
587
      setLogFile --option=c --quiet "$logfile" LOG_FILE
588
    else
589
      setLogFile "$logfile" LOG_FILE
590
      printf "\n"
591
    fi
592
  fi
593
  # log script name
594
  printLog "this is $(realpath ${BASH_SOURCE[0]})\n"
595
596
  # parse arguments
597
  local otherargs=()
598
  while [ $# -gt 0 ]; do
599
    if ( parseIsOption $1 ); then
600
      case "$1" in
601
        -h|--help) # already handled; ignore
602
          shift 1;;
603
        -i|--init)
604
           initAmiroBlt; printf "\n"; shift 1;;
605
        -s|--setup)
606
           amiroBltSetup; printf "\n"; shift 1;;
607
        -w|--wipe)
608
           wipeAmiroBlt; printf "\n"; shift 1;;
609
        -q|--quit)
610
          quitScript; shift 1;;
611
        --log=*|--LOG=*) # already handled; ignore
612
          shift 1;;
613
        --log|--LOG) # already handled; ignore
614
          shift 2;;
615
        --noinfo) # already handled; ignore
616
          shift 1;;
617
        *)
618
          printError "invalid option: $1\n"; shift 1;;
619
      esac
620
    else
621
      otherargs+=("$1")
622
      shift 1
623
    fi
624
  done
625
626
  # interactive menu
627
  while ( true ); do
628
    # main menu info prompt and selection
629
    printInfo "Bootloader setup main menu\n"
630
    printf "Please select one of the following actions:\n"
631
    printf "  [I] - initialize AMiRo-BLT submodule\n"
632
    printf "  [S] - enter AMiRo-BLT setup\n"
633
    printf "  [W] - wipe AMiRo-BLT submodule\n"
634
    printf "  [Q] - quit this setup\n"
635
    local userinput=""
636
    readUserInput "IiSsWwQq" userinput
637
    printf "\n"
638
639
    # evaluate user selection
640
    case "$userinput" in
641
      I|i)
642
        initAmiroBlt; printf "\n";;
643
      S|s)
644
        amiroBltSetup; printf "\n";;
645
      W|w)
646
        wipeAmiroBlt; printf "\n";;
647
      Q|q)
648
        quitScript;;
649
      *) # sanity check (exit with error)
650
        printError "unexpected argument: $userinput\n";;
651
    esac
652
  done
653
654
  exit 0
655
}
656
657
################################################################################
658
# SCRIPT ENTRY POINT                                                           #
659
################################################################################
660
661
main "$@"