amiro-os / kernel / kernelsetup.sh @ db6bd9f8
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################################################################################ |
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# AMiRo-OS is an operating system designed for the Autonomous Mini Robot # |
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# (AMiRo) platform. # |
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# Copyright (C) 2016..2020 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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|
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#!/bin/bash |
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|
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# load library |
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source "$(dirname ${BASH_SOURCE[0]})/../tools/bash/setuplib.sh"
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|
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### print welcome text ######################################################### |
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# Prints a welcome message to standard out. |
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# |
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# usage: printWelcomeText |
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# arguments: n/a |
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# return: n/a |
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# |
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function printWelcomeText {
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printf "######################################################################\n" |
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printf "# #\n" |
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printf "# Welcome to the ChibiOS submodule setup! #\n" |
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printf "# #\n" |
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printf "######################################################################\n" |
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printf "# #\n" |
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printf "# Copyright (c) 2016..2020 Thomas Schöpping #\n" |
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printf "# #\n" |
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printf "# This is free software; see the source for copying conditions. #\n" |
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printf "# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n" |
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printf "# A PARTICULAR PURPOSE. The development of this software was #\n" |
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printf "# supported by the Excellence Cluster EXC 227 Cognitive Interaction #\n" |
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printf "# Technology. The Excellence Cluster EXC 227 is a grant of the #\n" |
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printf "# Deutsche Forschungsgemeinschaft (DFG) in the context of the German #\n" |
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printf "# Excellence Initiative. #\n" |
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printf "# #\n" |
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printf "######################################################################\n" |
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} |
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|
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### print help ################################################################# |
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# Prints a help text to standard out. |
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# |
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# usage: printHelp |
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# arguments: n/a |
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# return: n/a |
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# |
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function printHelp {
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printInfo "printing help text\n" |
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printf "usage: $(basename ${BASH_SOURCE[0]}) [-h|--help] [-i|--init] [-p|--patch] [-d|--documentation=<option>] [-w|--wipe] [-q|--quit] [--log=<file>]\n"
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printf "options: -h, --help\n" |
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printf " Print this help text.\n" |
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printf " -i, --init\n" |
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printf " Initialize ChibiOS submodule.\n" |
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printf " -p, --patch,\n" |
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printf " Apply patches to ChibiOS.\n" |
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printf " -d, --documentation <option>\n" |
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printf " Possible options are: 'g' and 'o' (can be combined).\n" |
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printf " - g: Generate HTML documentation of ChibiOS.\n" |
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printf " - o: Open HTML documentation of ChibiOS.\n" |
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printf " -w, --wipe\n" |
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printf " Wipe ChibiOS submodule.\n" |
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printf " -q, --quit\n" |
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printf " Quit the script.\n" |
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printf " --log=<file>\n" |
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printf " Specify a log file.\n" |
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} |
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|
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### initialize ChibiOS submodule ############################################### |
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# Initializes the ChibiOS Git submodule. |
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# |
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# usage: initChibiOS |
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# arguments: n/a |
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# return: 0 |
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# No error or warning occurred. |
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# 1 |
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# Warning: Aborted by user. |
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# -1 |
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# Error: Unexpected user input. |
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# -1 |
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# Error: Missing dependency. |
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# |
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function initChibiOS {
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printInfo "initializing ChibiOS submodule...\n" |
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local userdir=$(pwd) |
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local kerneldir=$(dirname $(realpath ${BASH_SOURCE[0]}))
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local chibiosdir=${kerneldir}/ChibiOS
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|
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# if the kernel folder is not empty |
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if [ ! -z "$(ls -A $chibiosdir)" ]; then |
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printWarning "$chibiosdir is not empty. Delete and reinitialize? [y/n]\n" |
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local userinput="" |
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readUserInput "YyNn" userinput |
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case "$userinput" in |
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Y|y) |
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wipeChibiOS |
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;; |
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N|n) |
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printWarning "ChibiOS initialization aborted by user\n" |
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return 1 |
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;; |
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*) # sanity check (return error) |
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printError "unexpected input: $userinput\n"; return -1;; |
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esac |
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fi |
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|
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# check dependencies |
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checkCommands git |
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if [ $? -ne 0 ]; then |
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printError "Missing dependencies detected.\n" |
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return -2 |
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fi |
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# initialize submodule to default branch |
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cd $kerneldir |
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git submodule update --init $chibiosdir 2>&1 | tee -a $LOG_FILE |
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while [ ${PIPESTATUS[0]} -ne 0 ]; do
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printWarning "initialitaion failed. Retry? [y/n]\n" |
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local userinput="" |
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readUserInput "YyNn" userinput |
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case "$userinput" in |
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Y|y) |
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git submodule update --init $chibiosdir 2>&1 | tee -a $LOG_FILE;; |
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N|n) |
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printWarning "ChibiOS initialization aborted by user\n" |
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cd $userdir |
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return 1 |
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;; |
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*) # sanity check (return error) |
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printError "unexpected input: $userinput\n"; return -1;; |
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esac |
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done |
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cd $userdir |
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return 0 |
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} |
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### patch ChibiOS ############################################################## |
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# Applies patches to ChibiOS submodule. |
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# |
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# usage: patchChibiOS |
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# arguments: n/a |
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# return: 0 |
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# No error or warning occurred. |
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# 1 |
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# Warning: ChibiOS not initialized yet. |
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# 2 |
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# Warning: Setup aborted by user. |
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# -1 |
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# Error: Unexpected user input. |
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# |
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function patchChibiOS {
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printInfo "applying patches to ChibiOS\n" |
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local userdir=$(pwd) |
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local kerneldir=$(dirname $(realpath ${BASH_SOURCE[0]}))
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local chibiosdir=${kerneldir}/ChibiOS
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local git_branch_patched="AMiRo-OS" |
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# check dependencies |
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checkCommands git |
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if [ $? -ne 0 ]; then |
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printError "Missing dependencies detected.\n" |
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return -2 |
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fi |
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# if the ChibiOS folder is empty |
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if [ -z "$(ls -A $chibiosdir)" ]; then |
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printWarning "$chibiosdir is empty. Please initialize first.\n" |
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return 1 |
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else |
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# get some information from Git |
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cd $chibiosdir |
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local git_branch_current=$(git rev-parse --abbrev-ref HEAD) |
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local git_branches=$(git for-each-ref --format="%(refname)") |
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local git_dirtyfiles=($(git ls-files -dmo --exclude-standard --exclude=/doc)) |
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cd $userdir |
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|
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local issues=0 |
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# if the current branch is already $git_branch_patched |
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if [ "$git_branch_current" = "$git_branch_patched" ]; then |
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issues=$((issues + 1)) |
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printWarning "current branch is already $git_branch_patched\n" |
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fi |
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# if the current branch is bot $git_branch_patched, but another branch $git_branch_patched already exists |
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if [ "$git_branch_current" != "$git_branch_patched" ] && [[ "$git_branches" = *"$git_branch_patched"* ]]; then |
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issues=$((issues + 1)) |
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printWarning "another branch $git_branch_patched already exists\n" |
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fi |
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# if there are untracked, modified, or deleted files |
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if [ ${#git_dirtyfiles[@]} != 0 ]; then
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issues=$((issues + 1)) |
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printWarning "there are ${#git_dirtyfiles[@]} untracked, modified, or deleted files\n"
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fi |
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if [ $issues -gt 0 ]; then |
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local userinput="" |
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printWarning "$issues issues detected. Do you want to continue? [y/n]\n" |
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readUserInput "YyNn" userinput |
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case "$userinput" in |
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Y|y) |
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;; |
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N|n) |
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printfWarning "ChibiOS patching aborted by user\n" |
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return 2 |
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;; |
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*) # sanity check (return error) |
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printError "unexpected input: $userinput\n"; return -1;; |
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esac |
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fi |
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# create a new branch and apply the patches |
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local patches=${kerneldir}/patches/*.patch
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cd $chibiosdir |
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git checkout -b "$git_branch_patched" 2>&1 | tee -a $LOG_FILE |
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for patch in $patches; do |
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printInfo "applying $(basename ${patch})...\n"
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git apply --whitespace=nowarn --ignore-space-change --ignore-whitespace < $patch 2>&1 | tee -a $LOG_FILE |
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# # These lines are disabled for safety reasons: |
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# # Filed commits are detected as valid changes by the super-project. |
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# # This would lead to errorneous updates of the super-project, so to point to one of those (local) commits. |
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# # Since these commits are not pushed upstream, initialization of the super-project will therefore fail, because |
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# # the referenced hashes (after patching) do not exist in a clean copy of this sub-project. |
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# git add $(git ls-files -dmo --exclude-standard --exclude=/doc) $(git diff --name-only) 2>&1 | tee -a $LOG_FILE |
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# git commit --message="$patch applied" 2>&1 | tee -a $LOG_FILE |
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done |
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cd $userdir |
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return 0 |
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fi |
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} |
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|
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### ChibiOS dcoumentation setup ################################################ |
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# |
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# usage: documentation [<option>] |
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# arguments: <option> |
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# Can be either 'g' or 'o' to generate or open HTML documentation respectively. |
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# return: 0 |
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# No error or warning occurred. |
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# 1 |
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# Warning: Kernel not nitialized yet. |
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# 2 |
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# Warning: Setup aborted by user. |
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# 3 |
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# Warning: Issues occurred. |
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# -1 |
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# Error: Unexpected user input. |
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# -2 |
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# Error: Missing dependencies. |
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# |
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function documentation {
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local userdir=$(pwd) |
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local kerneldir=$(dirname $(realpath ${BASH_SOURCE[0]}))
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local chibiosdir=${kerneldir}/ChibiOS
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# if the ChibiOS folder is empty |
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if [ -z "$(ls -A $chibiosdir)" ]; then |
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printWarning "$chibiosdir is empty. Please initialize first.\n" |
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return 1 |
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else |
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local option=""; |
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# if no argument was specified, ask what to do |
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if [ $# -eq 0 ]; then |
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printInfo "ChibiOS documentation setup\n" |
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printf "Please select one of the following actions:\n" |
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printf " [G] - generate HTML documentation\n" |
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printf " [O] - open HTML documentation\n" |
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printf " [A] - abort this setup\n" |
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local userinput |
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readUserInput "GgOoAa" userinput |
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option=${userinput,,}
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if [ $option = "a" ]; then |
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printInfo "ChibiOS documentation setup aborted by user\n" |
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return 2 |
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fi |
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else |
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option="$1" |
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fi |
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local issues=0 |
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case "$option" in |
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# generate HTML documentation |
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g) |
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# check dependencies |
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checkCommands doxygen |
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if [ $? -ne 0 ]; then |
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printError "Missing dependencies detected.\n" |
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return -2 |
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fi |
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# ChibiOS/HAL: check if required files exis |
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if [ -f ${chibiosdir}/doc/hal/makehtml.sh ]; then
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printInfo "generating ChibiOS/HAL documentation...\n" |
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cd ${chibiosdir}/doc/hal
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${chibiosdir}/doc/hal/makehtml.sh 2>&1 | tee -a $LOG_FILE
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cd $userdir |
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printInfo "access ChibiOS/HAL documentation via ${chibiosdir}doc/hal/html/index.html\n"
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else |
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issues=$((issues + 1)) |
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printError "could not generate ChibiOS/HAL documentation\n" |
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fi |
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# ChibiOS/RT: check if required files exis |
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if [ -f ${chibiosdir}/doc/rt/makehtml.sh ]; then
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printInfo "generating ChibiOS/RT documentation...\n" |
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cd ${chibiosdir}/doc/rt
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${chibiosdir}/doc/rt/makehtml.sh 2>&1 | tee -a $LOG_FILE
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cd $userdir |
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printInfo "access ChibiOS/RT documentation via ${chibiosdir}doc/rt/html/index.html\n"
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else |
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issues=$((issues + 1)) |
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printError "could not generate ChibiOS/RT documentation\n" |
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fi |
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# ChibiOS/NIL: check if required files exis |
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if [ -f ${chibiosdir}/doc/nil/makehtml.sh ]; then
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printInfo "generating ChibiOS/NIL documentation...\n" |
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cd ${chibiosdir}/doc/nil
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${chibiosdir}/doc/nil/makehtml.sh 2>&1 | tee -a $LOG_FILE
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cd $userdir |
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printInfo "access ChibiOS/NIL documentation via ${chibiosdir}edoc/nil/html/index.html\n"
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else |
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issues=$((issues + 1)) |
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printError "could not generate ChibiOS/NIL documentation\n" |
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fi |
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;; |
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# open HTML documentation |
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o) |
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# ChibiOS/HAL: check if required files exis |
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if [ -f ${chibiosdir}/doc/hal/html/index.html ]; then
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printInfo "open ChibiOS/HAL documentation\n" |
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xdg-open ${chibiosdir}/doc/hal/html/index.html &> /dev/null &
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else |
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issues=$((issues + 1)) |
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printError "could not open ChibiOS/HAL documentation\n" |
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fi |
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# ChibiOS/RT: check if required files exis |
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if [ -f ${chibiosdir}/doc/rt/html/index.html ]; then
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printInfo "open ChibiOS/RT documentation\n" |
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xdg-open ${chibiosdir}/doc/rt/html/index.html &> /dev/null &
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else |
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issues=$((issues + 1)) |
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printError "could not open ChibiOS/RT documentation\n" |
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fi |
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# ChibiOS/NIL: check if required files exis |
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if [ -f ${chibiosdir}/doc/nil/html/index.html ]; then
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printInfo "open ChibiOS/NIL documentation\n" |
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xdg-open ${chibiosdir}/doc/nil/html/index.html &> /dev/null &
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else |
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issues=$((issues + 1)) |
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printError "could not open ChibiOS/NIL documentation\n" |
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fi |
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;; |
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|
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*) # sanity check (return error) |
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printError "unexpected input: $userinput\n"; return -1;; |
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esac |
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|
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if [ $issues -gt 0 ]; then |
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return 3 |
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else |
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return 0 |
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fi |
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fi |
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} |
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|
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### reset ChibiOS submodule and wipe directory ################################# |
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# Resets the ChibiOS Git submodule and wipes the directory. |
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# |
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# usage: wipeChibiOS |
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# arguments: n/a |
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# return: 0 |
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# No error or warning occurred. |
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# 1 |
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# Warning: Submodule directory is already empty. |
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# 2 |
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# Warning: Wiping aborted by user. |
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# -1 |
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# Error: Unexpected user input. |
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# |
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function wipeChibiOS {
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printInfo "reset and wipe Git submodule $kerneldir\n" |
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local userdir=$(pwd) |
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local kerneldir=$(dirname $(realpath ${BASH_SOURCE[0]}))
|
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local chibiosdir=${kerneldir}/ChibiOS
|
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local git_branch_patched="AMiRo-OS" |
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|
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# check dependencies |
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checkCommands git |
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if [ $? -ne 0 ]; then |
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printError "Missing dependencies detected.\n" |
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return -2 |
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fi |
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|
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# if the ChibiOS folder is empty |
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if [ -z "$(ls -A $chibiosdir)" ]; then |
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printInfo "$chibiosdir is alread empty\n" |
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return 1 |
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else |
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# get some information from Git |
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cd $kerneldir |
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local git_basehash=($(git ls-tree -d HEAD $kerneldir)); git_basehash=${git_basehash[2]}
|
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cd $chibiosdir |
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local git_branch_current=$(git rev-parse --abbrev-ref HEAD) |
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local git_difftobase="$(git diff ${git_basehash}..HEAD)"
|
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local git_commits=$(git log --format=oneline ${git_basehash}..HEAD)
|
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local git_dirtyfiles=($(git ls-files -dmo --exclude-standard --exclude=/doc)) |
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cd $userdir |
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local issues=0 |
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# if the HEAD is neither detached, nor is the current branch $git_branch_patched |
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if [ "$git_branch_current" != "HEAD" ] && [ "$git_branch_current" != "$git_branch_patched" ]; then |
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issues=$((issues + 1)) |
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printWarning "modifications to ChibiOS Git submodule detected\n" |
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fi |
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# if HEAD is ahead of submodule base commit but with more than just applied patches |
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if [ -n "$git_difftobase" ] && [ -n "$(echo $git_commits | grep -Ev '\.patch applied$')" ]; then |
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issues=$((issues + 1)) |
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printWarning "HEAD is ahead of submodule base by unexpected commits\n" |
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fi |
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# if there are untracked, modified, or deleted files |
| 433 |
if [ ${#git_dirtyfiles[@]} != 0 ]; then
|
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issues=$((issues + 1)) |
| 435 |
printWarning "there are ${#git_dirtyfiles[@]} untracked, modified, or deleted files\n"
|
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fi |
| 437 |
if [ $issues -gt 0 ]; then |
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local userinput="" |
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printWarning "$issues issues detected. Do you want to continue? [y/n]\n" |
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readUserInput "YyNn" userinput |
| 441 |
case "$userinput" in |
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Y|y) |
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;; |
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N|n) |
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printfWarning "wiping ChibiOS Git submodule aborted by user\n" |
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return 2 |
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;; |
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*) # sanity check (return error) |
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printError "unexpected input: $userinput\n"; return -1;; |
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esac |
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fi |
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|
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# checkout base commit and delete all local branches |
| 454 |
cd $kerneldir |
| 455 |
git submodule update --force --checkout $kerneldir | tee -a $LOG_FILE |
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cd $chibiosdir |
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local git_branches=($(git for-each-ref --format="%(refname)")) |
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for branch in $git_branches; do |
| 459 |
if [[ $branch = *"heads/"* ]]; then |
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git branch -D ${branch##*/} | tee -a $LOG_FILE
|
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fi |
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done |
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cd $userdir |
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|
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# deinitialize ChibiOS submodule and delete any remaining files |
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cd $kerneldir |
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git submodule deinit -f $chibiosdir 2>&1 | tee -a $LOG_FILE |
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rm -rf $chibiosdir/* |
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cd $userdir |
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|
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return 0 |
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fi |
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} |
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|
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### main function of this script ############################################### |
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# The kernel setup provides comfortable initialization, patching, documentation |
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# generation and cleanup for ChibiOS. |
| 478 |
# |
| 479 |
# usage: see function printHelp |
| 480 |
# arguments: see function printHelp |
| 481 |
# return: 0 |
| 482 |
# No error or warning occurred. |
| 483 |
# |
| 484 |
function main {
|
| 485 |
# print welcome/info text if not suppressed |
| 486 |
if [[ $@ != *"--noinfo"* ]]; then |
| 487 |
printWelcomeText |
| 488 |
else |
| 489 |
printf "######################################################################\n" |
| 490 |
fi |
| 491 |
printf "\n" |
| 492 |
|
| 493 |
# if --help or -h was specified, print the help text and exit |
| 494 |
if [[ $@ == *"--help"* || $@ == *"-h"* ]]; then |
| 495 |
printHelp |
| 496 |
printf "\n" |
| 497 |
quitScript |
| 498 |
fi |
| 499 |
|
| 500 |
# set log file if specified |
| 501 |
if [[ $@ == *"--log"* ]] || [[ $@ == *"--LOG"* ]]; then |
| 502 |
# get the parameter (file name) |
| 503 |
local cmdidx=1 |
| 504 |
while [[ ! "${!cmdidx}" = "--log"* ]] && [[ ! "${!cmdidx}" = "--LOG"* ]]; do
|
| 505 |
cmdidx=$[cmdidx + 1] |
| 506 |
done |
| 507 |
local cmd="${!cmdidx}"
|
| 508 |
local logfile="" |
| 509 |
if [[ "$cmd" = "--log="* ]] || [[ "$cmd" = "--LOG="* ]]; then |
| 510 |
logfile=${cmd#*=}
|
| 511 |
else |
| 512 |
local filenameidx=$((cmdidx + 1)) |
| 513 |
logfile="${!filenameidx}"
|
| 514 |
fi |
| 515 |
# optionally force silent appending |
| 516 |
if [[ "$cmd" = "--LOG"* ]]; then |
| 517 |
setLogFile --option=c --quiet "$logfile" LOG_FILE |
| 518 |
else |
| 519 |
setLogFile "$logfile" LOG_FILE |
| 520 |
printf "\n" |
| 521 |
fi |
| 522 |
fi |
| 523 |
# log script name |
| 524 |
printLog "this is $(realpath ${BASH_SOURCE[0]})\n"
|
| 525 |
|
| 526 |
# parse arguments |
| 527 |
local otherargs=() |
| 528 |
while [ $# -gt 0 ]; do |
| 529 |
if ( parseIsOption $1 ); then |
| 530 |
case "$1" in |
| 531 |
-h|--help) # already handled; ignore |
| 532 |
shift 1;; |
| 533 |
-i|--init) |
| 534 |
initChibiOS; printf "\n"; shift 1;; |
| 535 |
-p|--patch) |
| 536 |
patchChibiOS; printf "\n"; shift 1;; |
| 537 |
-d=*|--documentation=*) |
| 538 |
documentation "${1#*=}"; printf "\n"; shift 1;;
|
| 539 |
-d|--documentation) |
| 540 |
if ( ! parseIsOption $2 ); then |
| 541 |
documentation "$2"; printf "\n"; shift 2 |
| 542 |
else |
| 543 |
documentation; printf "\n"; shift 1 |
| 544 |
fi;; |
| 545 |
-w|--wipe) |
| 546 |
wipeChibiOS; printf "\n"; shift 1;; |
| 547 |
-q|--quit) |
| 548 |
quitScript; shift 1;; |
| 549 |
--log=*|--LOG=*) # already handled; ignore |
| 550 |
shift 1;; |
| 551 |
--log|--LOG) # already handled; ignore |
| 552 |
shift 2;; |
| 553 |
--noinfo) # already handled; ignore |
| 554 |
shift 1;; |
| 555 |
*) |
| 556 |
printError "invalid option: $1\n"; shift 1;; |
| 557 |
esac |
| 558 |
else |
| 559 |
otherargs+=("$1")
|
| 560 |
shift 1 |
| 561 |
fi |
| 562 |
done |
| 563 |
|
| 564 |
# interactive menu |
| 565 |
while ( true ); do |
| 566 |
# main menu info prompt and selection |
| 567 |
printInfo "ChibiOS kernel setup main menu\n" |
| 568 |
printf "Please select one of the following actions:\n" |
| 569 |
printf " [I] - initialize ChibiOS submodule\n" |
| 570 |
printf " [P] - apply patches to ChibiOS\n" |
| 571 |
printf " [D] - generate or open HTML documentation\n" |
| 572 |
printf " [W] - wipe ChibiOS submodule\n" |
| 573 |
printf " [Q] - quit this setup\n" |
| 574 |
local userinput="" |
| 575 |
readUserInput "IiPpDdWwQq" userinput |
| 576 |
printf "\n" |
| 577 |
|
| 578 |
# evaluate user selection |
| 579 |
case "$userinput" in |
| 580 |
I|i) |
| 581 |
initChibiOS; printf "\n";; |
| 582 |
P|p) |
| 583 |
patchChibiOS; printf "\n";; |
| 584 |
D|d) |
| 585 |
documentation; printf "\n";; |
| 586 |
W|w) |
| 587 |
wipeChibiOS; printf "\n";; |
| 588 |
Q|q) |
| 589 |
quitScript;; |
| 590 |
*) # sanity check (exit with error) |
| 591 |
printError "unexpected argument: $userinput\n";; |
| 592 |
esac |
| 593 |
done |
| 594 |
|
| 595 |
exit 0 |
| 596 |
} |
| 597 |
|
| 598 |
################################################################################ |
| 599 |
# SCRIPT ENTRY POINT # |
| 600 |
################################################################################ |
| 601 |
|
| 602 |
main "$@" |