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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 84f0ce9e 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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#!/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 {
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  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 ####################################################
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# 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.
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# return:     n/a
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#
57
function printWarning {
58
  local string="WARNING: $1"
59
  # if a log file is specified
60
  if [ -n "$LOG_FILE" ]; then
61
    printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE
62
  fi
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  printf "$(tput setaf 3)>>> $string$(tput sgr 0)"
64
}
65
66
### print an information message ###############################################
67
# Prints an information <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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#
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>
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#                 Message string to print.
90
# return:     n/a
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#
92
function printLog {
93
  local string="LOG:     $1"
94
  # if a log file is specified
95
  if [ -n "$LOG_FILE" ]; then
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    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 {
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  local input=""
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  # read user input
130
  while [ -z $input ] || ( [ -n "$1" ] && [[ ! $input =~ ^[$1]$ ]] ); do
131
    read -p "your selection: " -n 1 -e input
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    if [ -z $input ] || ( [ -n "$1" ] && [[ ! $input =~ ^[$1]$ ]] ); then
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      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>.
168
#
169
# 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>
181
#                 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-OS setup!                   #\n"
315
  printf "#                                                                    #\n"
316
  printf "######################################################################\n"
317
  printf "#                                                                    #\n"
318 84f0ce9e 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 ${BASH_SOURCE[0]}) [-h|--help] [-i|--init] [-k|--kernel] [-b|--bootloader] [-p|--periphery-LLD] [-c|--compiler] [--IDE] [-q|--quit] [--log=<file>]\n"
341
  printf "\n"
342
  printf "options:  -h, --help\n"
343
  printf "              Print this help text.\n"
344
  printf "          -i, --init\n"
345
  printf "              Run project initalization.\n"
346
  printf "          -k, --kernel\n"
347
  printf "              Enter kernel setup.\n"
348
  printf "          -b, --bootloader\n"
349
  printf "              Enter bootloader setup.\n"
350
  printf "          -p, --periphery-LLD\n"
351
  printf "              Enter periphery-LLD setup.\n"
352
  printf "          -c, --compiler\n"
353
  printf "              Enter compiler setup.\n"
354
  printf "          --IDE\n"
355
  printf "              Enter IDE setup.\n"
356
  printf "          -q, --quit\n"
357
  printf "              Quit the script.\n"
358
  printf "          --log=<file>\n"
359
  printf "              Specify a log file.\n"
360
}
361
362
### initialize whole project ###################################################
363
# Initializes the whole project, including fetching all submodules and so on.
364
#
365
# usage:      projectInitialization
366
# arguments:  n/a
367
# return:     n/a
368
#
369
function projectInitialization {
370
  printInfo "initializing project\n"
371
  printf "\n"
372
  if [ -z "$LOG_FILE" ]; then
373
    printInfo "initializing kernel submodule...\n"
374
    $(dirname $(realpath ${BASH_SOURCE[0]}))/kernel/kernelsetup.sh --init --quit --noinfo
375
    printf "\n"
376
    printInfo "initializing ChibiOS...\n"
377
    $(dirname $(realpath ${BASH_SOURCE[0]}))/kernel/kernelsetup.sh --patch --documentation=g --quit --noinfo
378
    printf "\n"
379
380
    printInfo "initializing bootloader submodule...\n"
381
    $(dirname $(realpath ${BASH_SOURCE[0]}))/bootloader/bootloadersetup.sh --init --quit --noinfo
382
    printf "\n"
383
    printInfo "initializing AMiRo-BLT...\n"
384
    $(dirname $(realpath ${BASH_SOURCE[0]}))/bootloader/AMiRo-BLT/setup.sh --stm32flash --SerialBoot --quit --noinfo
385
    printf "\n"
386
387
    printInfo "initializing periphery-LLD (AMiRo-LLD)...\n"
388
    $(dirname $(realpath ${BASH_SOURCE[0]}))/periphery-lld/peripherylldsetup.sh --init --quit --noinfo
389
    printf "\n"
390
  else
391
    printInfo "initializing kernel submodule...\n"
392
    $(dirname $(realpath ${BASH_SOURCE[0]}))/kernel/kernelsetup.sh --init --quit --LOG="$LOG_FILE" --noinfo
393
    printf "\n"
394
    printInfo "initializing ChibiOS...\n"
395
    $(dirname $(realpath ${BASH_SOURCE[0]}))/kernel/kernelsetup.sh --patch --documentation=g --quit --LOG="$LOG_FILE" --noinfo
396
    printf "\n"
397
398
    printInfo "initializing bootloader submodule...\n"
399
    $(dirname $(realpath ${BASH_SOURCE[0]}))/bootloader/bootloadersetup.sh --init --quit --LOG="$LOG_FILE" --noinfo
400
    printf "\n"
401
    printInfo "initializing AMiRo-BLT...\n"
402
    $(dirname $(realpath ${BASH_SOURCE[0]}))/bootloader/AMiRo-BLT/setup.sh --stm32flash --SerialBoot --quit --LOG="$LOG_FILE" --noinfo
403
    printf "\n"
404
405
    printInfo "initializing periphery-LLD (AMiRo-LLD)...\n"
406
    $(dirname $(realpath ${BASH_SOURCE[0]}))/periphery-lld/peripherylldsetup.sh --init --quit --LOG="$LOG_FILE" --noinfo
407
    printf "\n"
408
  fi
409
  printInfo "initialization complete\n"
410
}
411
412
### enter kernel setup #########################################################
413
# Enter the kernel setup.
414
#
415
# usage:      kernelSetup
416
# arguments:  n/a
417
# return:     n/a
418
#
419
function kernelSetup {
420
  printInfo "entering kernel setup\n"
421
  printf "\n"
422
  if [ -z $LOG_FILE ]; then
423
    $(dirname $(realpath ${BASH_SOURCE[0]}))/kernel/kernelsetup.sh --noinfo
424
  else
425
    $(dirname $(realpath ${BASH_SOURCE[0]}))/kernel/kernelsetup.sh --LOG="$LOG_FILE" --noinfo
426
  fi
427
}
428
429
### enter bootloader setup #####################################################
430
# Enter bootloader setup.
431
#
432
# usage:      bootloaderSetup
433
# arguments:  n/a
434
# return:     n/a
435
#
436
function bootloaderSetup {
437
  printInfo "entering bootloader setup\n"
438
  printf "\n"
439
  if [ -z $LOG_FILE ]; then
440
    $(dirname $(realpath ${BASH_SOURCE[0]}))/bootloader/bootloadersetup.sh --noinfo
441
  else
442
    $(dirname $(realpath ${BASH_SOURCE[0]}))/bootloader/bootloadersetup.sh --LOG="$LOG_FILE" --noinfo
443
  fi
444
}
445
446
### enter periphery LLD setup ##################################################
447
# Enter the Periphery-LLD setup.
448
#
449
# usage:      peripheryLldSetup
450
# arguments:  n/a
451
# return:     n/a
452
#
453
function peripheryLldSetup {
454
  printInfo "entering periphery-LLD setup\n"
455
  printf "\n"
456
  if [ -z $LOG_FILE ]; then
457
    $(dirname $(realpath ${BASH_SOURCE[0]}))/periphery-lld/peripherylldsetup.sh --noinfo
458
  else
459
    $(dirname $(realpath ${BASH_SOURCE[0]}))/periphery-lld/peripherylldsetup.sh --LOG="$LOG_FILE" --noinfo
460
  fi
461
}
462
463
### enter compiler setup #######################################################
464
# Enter the compiler setup of tzhe AMiRo-BLT submodule.
465
#
466
# usage:      compilerSetup
467
# arguments:  n/a
468
# return:     0
469
#                 No error or warning occurred.
470
#             1
471
#                 Warning: AMiRo-BLT submodule not nitialized yet-
472
#
473
function compilerSetup {
474
  # check if the AMiRo-BLT submodule is initialized and the script file exists
475
  local amirobltdir=$(dirname $(realpath ${BASH_SOURCE[0]}))/bootloader/AMiRo-BLT
476
  local compilerscriptfile=${amirobltdir}/tools/compiler/compilersetup.sh
477
  if [ -z "$(ls -A $amirobltdir)" ] || [ ! -f $compilerscriptfile ]; then
478
    printWarning "Please initialize AMiRo-BLT submodule first.\n"
479
    return 1
480
  else
481
    printInfo "entering compiler setup\n"
482
    if [ -z "$LOG_FILE" ]; then
483
      $compilerscriptfile --noinfo
484
    else
485
      $compilerscriptfile --LOG="$LOG_FILE" --noinfo
486
    fi
487
    return 0
488
  fi
489
}
490
491
### enter IDE setup ############################################################
492
# Enter IDE setup.
493
#
494
# usage:      ideSetup
495
# arguments:  n/a
496
# return:     n/a
497
#
498
function ideSetup {
499
  printInfo "entering IDE setup\n"
500
  printf "\n"
501
  if [ -z $LOG_FILE ]; then
502
    $(dirname $(realpath ${BASH_SOURCE[0]}))/tools/ide/idesetup.sh --noinfo
503
  else
504
    $(dirname $(realpath ${BASH_SOURCE[0]}))/tools/ide/idesetup.sh --LOG="$LOG_FILE" --noinfo
505
  fi
506
}
507
508
### main function of this script ###############################################
509
# Provides functions for project initialization, configuration of IDE and
510
# compiler setup, as well as entry points to the several Git submodules.
511
#
512
# usage:      see function printHelp
513
# arguments:  see function printHelp
514
# return:     0
515
#                 No error or warning occurred.
516
#
517
function main {
518
  # print welcome/info text if not suppressed
519
  if [[ $@ != *"--noinfo"* ]]; then
520
    printWelcomeText
521
  else
522
    printf "######################################################################\n"
523
  fi
524
  printf "\n"
525
526
  # if --help or -h was specified, print the help text and exit
527
  if [[ $@ == *"--help"* || $@ == *"-h"* ]]; then
528
    printHelp
529
    printf "\n"
530
    quitScript
531
  fi
532
533
  # set log file if specified
534
  if [[ $@ == *"--log"* ]] || [[ $@ == *"--LOG"* ]]; then
535
    # get the parameter (file name)
536
    local cmdidx=1
537
    while [[ ! "${!cmdidx}" = "--log"* ]] && [[ ! "${!cmdidx}" = "--LOG"* ]]; do
538
      cmdidx=$[cmdidx + 1]
539
    done
540
    local cmd="${!cmdidx}"
541
    local logfile=""
542
    if [[ "$cmd" = "--log="* ]] || [[ "$cmd" = "--LOG="* ]]; then
543
      logfile=${cmd#*=}
544
    else
545
      local filenameidx=$((cmdidx + 1))
546
      logfile="${!filenameidx}"
547
    fi
548
    # optionally force silent appending
549
    if [[ "$cmd" = "--LOG"* ]]; then
550
      setLogFile --option=c --quiet "$logfile" LOG_FILE
551
    else
552
      setLogFile "$logfile" LOG_FILE
553
      printf "\n"
554
    fi
555
  fi
556
  # log script name
557
  printLog "this is $(realpath ${BASH_SOURCE[0]})\n"
558
559
  # parse arguments
560
  local otherargs=()
561
  while [ $# -gt 0 ]; do
562
    if ( parseIsOption $1 ); then
563
      case "$1" in
564
        -h|--help) # already handled; ignore
565
          shift 1;;
566
        -i|--init)
567
           projectInitialization; printf "\n"; shift 1;;
568
        -k|--kernel)
569
           kernelSetup; printf "\n"; shift 1;;
570
        -b|--bootloader)
571
           bootloaderSetup; printf "\n"; shift 1;;
572
        -p|--periphery-LLD)
573
           peripheryLldSetup; printf "\n"; shift 1;;
574
        -c|--compiler)
575
           compilerSetup; printf "\n"; shift 1;;
576
        --IDE)
577
           ideSetup; printf "\n"; shift 1;;
578
        -q|--quit)
579
          quitScript; shift 1;;
580
        --log=*|--LOG=*) # already handled; ignore
581
          shift 1;;
582
        --log|--LOG) # already handled; ignore
583
          shift 2;;
584
        --noinfo) # already handled; ignore
585
          shift 1;;
586
        *)
587
          printError "invalid option: $1\n"; shift 1;;
588
      esac
589
    else
590
      otherargs+=("$1")
591
      shift 1
592
    fi
593
  done
594
595
  # interactive menu
596
  while ( true ); do
597
    # main menu info prompt and selection
598
    printInfo "AMiRo-OS main menu\n"
599
    printf "Please select one of the following actions:\n"
600
    printf "  [I] - project initialization\n"
601
    printf "  [K] - enter kernel setup\n"
602
    printf "  [B] - enter bootloaders setup\n"
603
    printf "  [P] - enter periphery-LLD setup\n"
604
    printf "  [C] - enter compiler setup\n"
605
    printf "  [E] - enter IDE project setup\n"
606
    printf "  [Q] - quit this setup\n"
607
    local userinput=""
608
    readUserInput "IiKkBbPpCcEeQq" userinput
609
    printf "\n"
610
611
    # evaluate user selection
612
    case "$userinput" in
613
      I|i)
614
        projectInitialization; printf "\n";;
615
      K|k)
616
        kernelSetup; printf "\n";;
617
      B|b)
618
        bootloaderSetup; printf "\n";;
619
      P|p)
620
        peripheryLldSetup; printf "\n";;
621
      C|c)
622
        compilerSetup; printf "\n";;
623
      E|e)
624
        ideSetup; printf "\n";;
625
      Q|q)
626
        quitScript;;
627
      *) # sanity check (exit with error)
628
        printError "unexpected argument: $userinput\n";;
629
    esac
630
  done
631
632
  exit 0
633
}
634
635
################################################################################
636
# SCRIPT ENTRY POINT                                                           #
637
################################################################################
638
639
main "$@"