#!/bin/sh
#
# Unified OpenOCD script for RIOT
#
# This script is supposed to be called from RIOTs make system,
# as it depends on certain environment variables. An OpenOCD
# configuration file must be present in a the boards dist folder.
#
# Any extra command line arguments after the command name are passed on the
# openocd command line after the configuration file name but before any other
# initialization commands.
#
# Global environment variables used:
# OPENOCD:             OpenOCD command name, default: "openocd"
# OPENOCD_CONFIG:      OpenOCD configuration file name,
#                      default: "${RIOTBOARD}/${BOARD}/dist/openocd.cfg"
#
# The script supports the following actions:
#
# flash:        flash a given hex file to the target.
#               hexfile is expected in ihex format and is pointed to
#               by HEXFILE environment variable
#
#               options:
#               HEXFILE: path to the hex file that is flashed
#               PRE_FLASH_CHECK_SCRIPT: a command to run before flashing to
#               verify the integrity of the image to be flashed. HEXFILE is
#               passed as an argument to this command.
#
# flash-elf:    flash a given ELF file to the target.
#
#               options:
#               ELFFILE: path to the ELF file that is flashed
#               PRE_FLASH_CHECK_SCRIPT: a command to run before flashing to
#               verify the integrity of the image to be flashed. ELFFILE is
#               passed as an argument to this command.
#
# debug:        starts OpenOCD as GDB server in the background and
#               connects to the server with the GDB client specified by
#               the board (DBG environment variable)
#
#               options:
#               GDB_PORT:       port opened for GDB connections
#               TCL_PORT:       port opened for TCL connections
#               TELNET_PORT:    port opened for telnet connections
#               TUI:            if TUI!=null, the -tui option will be used
#               ELFFILE:        path to the ELF file to debug
#
# debug-server: starts OpenOCD as GDB server, but does not connect to
#               to it with any frontend. This might be useful when using
#               IDEs.
#
#               options:
#               GDB_PORT:       port opened for GDB connections
#               TCL_PORT:       port opened for TCL connections
#               TELNET_PORT:    port opened for telnet connections
#
# reset:        triggers a hardware reset of the target board
#
#
# @author       Hauke Peteresen <hauke.petersen@fu-berlin.de>
# @author       Joakim Nohlgård <joakim.nohlgard@eistec.se>

# default GDB port
_GDB_PORT=3333
# default telnet port
_TELNET_PORT=4444
# default TCL port
_TCL_PORT=6333
# default path to OpenOCD configuration file
_OPENOCD_CONFIG=${RIOTBOARD}/${BOARD}/dist/openocd.cfg
# default OpenOCD command
_OPENOCD=openocd

#
# a couple of tests for certain configuration options
#
test_config() {
    if [ -z "${OPENOCD}" ]; then
        OPENOCD=${_OPENOCD}
    fi
    if [ -z "${OPENOCD_CONFIG}" ]; then
        OPENOCD_CONFIG=${_OPENOCD_CONFIG}
    fi
    if [ ! -f "${OPENOCD_CONFIG}" ]; then
        echo "Error: Unable to locate OpenOCD configuration file"
        echo "       (${OPENOCD_CONFIG})"
        exit 1
    fi
}

test_hexfile() {
    if [ ! -f "${HEXFILE}" ]; then
        echo "Error: Unable to locate HEXFILE"
        echo "       (${HEXFILE})"
        exit 1
    fi
}

test_elffile() {
    if [ ! -f "${ELFFILE}" ]; then
        echo "Error: Unable to locate ELFFILE"
        echo "       (${ELFFILE})"
        exit 1
    fi
}

test_ports() {
    if [ -z "${GDB_PORT}" ]; then
        GDB_PORT=${_GDB_PORT}
    fi
    if [ -z "${TELNET_PORT}" ]; then
        TELNET_PORT=${_TELNET_PORT}
    fi
    if [ -z "${TCL_PORT}" ]; then
        TCL_PORT=${_TCL_PORT}
    fi
}

test_tui() {
    if [ -n "${TUI}" ]; then
        TUI=-tui
    fi
}

#
# now comes the actual actions
#
do_flash() {
    test_config
    test_hexfile
    if [ -n "${PRE_FLASH_CHECK_SCRIPT}" ]; then
        sh -c "${PRE_FLASH_CHECK_SCRIPT} '${HEXFILE}'"
        RETVAL=$?
        if [ $RETVAL -ne 0 ]; then
            echo "pre-flash checks failed, status=$RETVAL"
            exit $RETVAL
        fi
    fi
    # flash device
    sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
            ${OPENOCD_EXTRA_INIT} \
            -c 'tcl_port 0' \
            -c 'telnet_port 0' \
            -c 'gdb_port 0' \
            -c 'init' \
            -c 'targets' \
            -c 'reset halt' \
            ${OPENOCD_PRE_FLASH_CMDS} \
            -c 'flash write_image erase \"${HEXFILE}\"' \
            -c 'reset halt' \
            ${OPENOCD_PRE_VERIFY_CMDS} \
            -c 'verify_image \"${HEXFILE}\"' \
            -c 'reset run' \
            -c 'shutdown'" &&
    echo 'Done flashing'
}

do_flash_elf() {
    test_config
    test_elffile
    if [ -n "${PRE_FLASH_CHECK_SCRIPT}" ]; then
        sh -c "${PRE_FLASH_CHECK_SCRIPT} '${ELFFILE}'"
        RETVAL=$?
        if [ $RETVAL -ne 0 ]; then
            echo "pre-flash checks failed, status=$RETVAL"
            exit $RETVAL
        fi
    fi
    # flash device
    sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
            ${OPENOCD_EXTRA_INIT} \
            -c 'tcl_port 0' \
            -c 'telnet_port 0' \
            -c 'gdb_port 0' \
            -c 'init' \
            -c 'targets' \
            -c 'reset halt' \
            ${OPENOCD_PRE_FLASH_CMDS} \
            -c 'flash write_image erase \"${ELFFILE}\"' \
            -c 'reset halt' \
            ${OPENOCD_PRE_VERIFY_CMDS} \
            -c 'verify_image \"${ELFFILE}\"' \
            -c 'reset run' \
            -c 'shutdown'" &&
    echo 'Done flashing'
}

do_debug() {
    test_config
    test_elffile
    test_ports
    test_tui
    # setsid is needed so that Ctrl+C in GDB doesn't kill OpenOCD
    [ -z "${SETSID}" ] && SETSID="$(which setsid)"
    # temporary file that saves OpenOCD pid
    OCD_PIDFILE=$(mktemp -t "openocd_pid.XXXXXXXXXX")
    # cleanup after script terminates
    trap "cleanup ${OCD_PIDFILE}" EXIT
    # don't trap on Ctrl+C, because GDB keeps running
    trap '' INT
    # start OpenOCD as GDB server
    ${SETSID} sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
            ${OPENOCD_EXTRA_INIT} \
            -c 'tcl_port ${TCL_PORT}' \
            -c 'telnet_port ${TELNET_PORT}' \
            -c 'gdb_port ${GDB_PORT}' \
            -c 'init' \
            -c 'targets' \
            -c 'halt' \
            -l /dev/null & \
            echo \$! > $OCD_PIDFILE" &
    # connect to the GDB server
    ${DBG} -q ${TUI} -ex "tar ext :${GDB_PORT}" ${ELFFILE}
    # will be called by trap
    cleanup() {
        OCD_PID="$(cat $OCD_PIDFILE)"
        kill ${OCD_PID}
        rm -f "$OCD_PIDFILE"
        exit 0
    }
}

do_debugserver() {
    test_config
    test_ports
    # start OpenOCD as GDB server
    sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
            ${OPENOCD_EXTRA_INIT} \
            -c 'tcl_port ${TCL_PORT}' \
            -c 'telnet_port ${TELNET_PORT}' \
            -c 'gdb_port ${GDB_PORT}' \
            -c 'init' \
            -c 'targets' \
            -c 'reset halt'"
}

do_reset() {
    test_config
    # start OpenOCD and invoke board reset
    sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
            ${OPENOCD_EXTRA_INIT} \
            -c 'tcl_port 0' \
            -c 'telnet_port 0' \
            -c 'gdb_port 0' \
            -c 'init' \
            -c 'reset run' \
            -c 'shutdown'"
}

#
# parameter dispatching
#
ACTION="$1"
shift # pop $1 from $@

case "${ACTION}" in
  flash)
    echo "### Flashing Target ###"
    do_flash "$@"
    ;;
  flash-elf)
    echo "### Flashing Target ###"
    do_flash_elf "$@"
    ;;
  debug)
    echo "### Starting Debugging ###"
    do_debug "$@"
    ;;
  debug-server)
    echo "### Starting GDB Server ###"
    do_debugserver "$@"
    ;;
  reset)
    echo "### Resetting Target ###"
    do_reset "$@"
    ;;
  *)
    echo "Usage: $0 {flash|debug|debug-server|reset} [extra OpenOCD initialization arguments]"
    ;;
esac