px4-firmware/Tools/fix_headers.sh

#! /bin/bash

# Written by Carlo Wood, September/October 2016.

function fatal
{
	echo "$0: ERROR: $*"
	exit 1
}

# Make sure we're not having a broken gawk.
AWK_VERSION=$(awk -V | head -n 1)
if [[ $AWK_VERSION =~ ^GNU\ Awk\ 4\.[0-9]+\.[0-9]+ ]]; then
	AWK_VERSION=$(echo $AWK_VERSION | sed -e 's/GNU Awk \(4\.[0-9]*\.[0-9]*\).*/\1/')
	if [[ $AWK_VERSION =~ ^4\.0*([2-9]+|1\.0*[2-9]+) ]]; then
		fatal "Your version of awk ($AWK_VERSION) is broken. Please use version 4.1.1 or lower."
	fi
fi
echo "AWK_VERSION=$AWK_VERSION"

# Find out what the base directory is.
BASEDIR="$(dirname $(dirname $(readlink -en "$0")))"
echo "BASEDIR=\"$BASEDIR\""
striplen=$((${#BASEDIR} + 2))

# BASEDIR may not contain a space, that's just too hard to get to work.
expr index "$BASEDIR" " " >/dev/null && fatal "it is not supported that BASEDIR contains a space."

# Make sure that worked.
test -f $BASEDIR/cmake/posix/px4_impl_posix.cmake || fatal "Failed to determine BASEDIR: '\$BASEDIR/cmake/posix/px4_impl_posix.cmake' is not a regular file."

# Parse command line parameters.
debug=0	# Set to non-zero to enable debugging.
force=0	# Set to 1 to force running of script even when there are uncommitted changes.
merge=0	# Set to 1 when merging a branch that didn't run this script into master that did already run this script.
while [[ $# -gt 0 ]]
do
	case $1 in
		--debug)
			debug=1
			;;
		--force)
			force=1
			;;
		--merge)
			force=1
			merge=1
			fatal "--merge is not implemented yet."
			;;
		-*)
			fatal "Unknown option $1"
			;;
		--|*)
			break
			;;
	esac
	shift
done
non_option_arguments=$#
if [ $non_option_arguments -eq 0 -a $debug -ne 0 ]; then
	fatal "--debug screws up the source files with debug output! You must provide a single filename to run on."
fi

# Better not run this script with changes that still need to be committed.
cd "$BASEDIR" || fatal "Could not change directory to \"$BASEDIR\""
if ! git diff-index --quiet HEAD --; then
	if [ $non_option_arguments -ne 0 -o $force -eq 1 ]; then
		if [ $force -eq 1 ]; then
			echo "Uncommitted changes, but running anyway because --force is used."
		else
			echo -n "WARNING: You have uncommitted changes (use --force to remove this warning). Run anyway? [y/N] "
			read answer
			if [ "x$answer" != "xy" -a "x$answer" != "xY" ]; then exit 0; fi
		fi
	else
		fatal "Your working directory has uncommitted changes (see 'git status')! Bailing out."
	fi
fi

# Find a reasonable tmp directory.
# First make a list of all build directories by looking for a CMakeCache.txt in them. Sort them so the most recent one is first.
CMAKECACHE_FILES=$(find "$BASEDIR" -mindepth 2 -maxdepth 2 -type f -name CMakeCache.txt -wholename "$BASEDIR/build_*/CMakeCache.txt" | xargs /bin/ls -td)
# Make a list of all candidate tmp directories.
TMPDIRS=
for f in $CMAKECACHE_FILES; do
	if [ -d $(dirname $f)/tmp ]; then
		TMPDIRS+=" $(dirname $f)/tmp"
	fi
done
# Put BASEDIR first in case there are no build directories because /tmp is probably on a different file system.
TMPDIRS+=" $BASEDIR /tmp ."
# Pick the first one that is actually writable.
for tmp in $TMPDIRS; do
	TMPDIR="$tmp"
	if [ -w "$TMPDIR" ]; then
		break;
	fi
done
test -n "$TMPDIR" || fatal "Can not find a writable tmp directory."
echo "TMPDIR=\"$TMPDIR\""

# Make a list of all source and header files that we need to fix.
# List of directories that we don't want to touch.
EXCLUDE_FOLDERS=".git unittests Tools"
EXCLUDE_PATTERNS="examples matlab/scripts tests test unit_test *_test *_tests test_* apps/test_* UnitTests"
# A regular expression for the exclude patterns.
EXCLUDE_PATTERNS_RE="($(echo $EXCLUDE_PATTERNS | sed -e 's/\*/[^\/]*/g;s/ /|/g'))"
# Extensions of files that we do want to change (leaving out .y and .py for now).
C_EXTENSIONS=".c .c_in .c_shipped"
H_EXTENSIONS=".h .h.in .h_template"
CXX_EXTENSIONS=".cc .cpp .cpp.in .cxx .cpp_template"
HXX_EXTENSIONS=".hh .hpp .hxx"
# The regular expression that we consider to be an #include.
INCLUDE_RE='^[[:space:]]*#[[:space:]]*include[[:space:]]*[<"]'
# Regular expression for empty lines.
EMPTY_LINE_RE='^[[:space:]]*$'
# Regular expression for one-line comments.
COMMENT_LINE_RE='^[[:space:]]*(\/\/.*|\/\*([^*]|\*+[^\/*])*\*+\/[[:space:]]*)$'
# Regular expression for a #define (on one line).
DEFINE_RE='^[[:space:]]*#[[:space:]]*define[[:space:]].*[^\\]$'
# Regular expression for an #if[[n]def].
IF_RE='^[[:space:]]*#[[:space:]]*if(n?def)?[[:space:]]'
# Regular expression for an #endif.
ENDIF_RE='^[[:space:]]*#[[:space:]]*endif($|[^[:alnum:]])'
# Regular expression for header file extension.
HEADER_RE="($(echo $H_EXTENSIONS $HXX_EXTENSIONS | sed -e 's/\./\\./g;s/ /|/g'))"
# Regular expression for C++ source and header files.
CXXSRC_RE="($(echo $CXX_EXTENSIONS $HXX_EXTENSIONS | sed -e 's/\./\\./g;s/ /|/g'))"
# List of standard C header files. Note that cfcntl, cshed and cunistd are NOT standard header files, even though they are in NuttX/nuttx/include/cxx.
REAL_STDC_HEADERS_RE='(cassert|ccomplex|cctype|cerrno|cfenv|cfloat|cinttypes|ciso646|climits|clocale|cmath|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype)'
STDC_HEADERS=$(find "$BASEDIR/NuttX/nuttx/include/cxx" -mindepth 1 -maxdepth 1 -type f | xargs basename -a | grep -E "$REAL_STDC_HEADERS_RE" | xargs echo)
# Regular expression of standard C header files, but with the leading 'c' stripped.
STDC_HEADERS_RE="($(echo $STDC_HEADERS | sed -e 's/^c//;s/ c/|/g'))"
# Actual list of standard C header files.
# List of standard C++ header files.
REAL_STDCXX_HEADERS_RE='(algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|typeindex|typeinfo|type_traits|unordered_map|unordered_set|utility|valarray|variant|vector)'
STDCXX_HEADERS=$(find "$BASEDIR/NuttX/misc/uClibc++/include/uClibc++" -mindepth 1 -maxdepth 1 -type f | xargs basename -a | grep -E "$REAL_STDCXX_HEADERS_RE" | grep -E -v "$REAL_STDC_HEADERS_RE" | xargs echo)
# Regular expression of C++ header files.
STDCXX_HEADERS_RE="($(echo $STDCXX_HEADERS | sed -e 's/ /|/g'))"
# Regular expression for #pragma once.
PRAGMA_ONCE_RE='^#pragma once'
# Regular expression to recognize the start of a C-comment block.
COMMENT_BEGIN_RE='(^|[^\/])\/\*([^*]|\*+($|[^\/*]))*$'
# Regular expression to recognize the end of a C-comment block.
COMMENT_END_RE='\*\/'
# Regular expression to match C++ unsafe headers. We currently don't have any C++ unsafe headers, do we?
# v2.0/standard/mavlink.h is not unsafe, but this way the script will leave it alone and not
# move it above function declarations that need to be declared before including it.
UNSAFE_HEADERS_RE='(v2\.0\/standard\/mavlink\.h)'
#UNSAFE_HEADERS_RE='(stm32\.h|arch\/board\/board\.h)'

# Find all submodules.
test -f $BASEDIR/.gitmodules || fatal "No such file: $BASEDIR/.gitmodules"
SUBMODULES=$(grep -A 1 '^\[submodule' $BASEDIR/.gitmodules | grep '^[[:space:]]*path = ' | sed -r -e 's/^[[:space:]]*path = //' | xargs echo)
echo "SUBMODULES=\"$SUBMODULES\""
SUBMODULES_RE="($(echo $SUBMODULES | sed -e 's/ /|/g'))"

# Disable path name expansion (otherwise the find patterns will be expanded against the files in the current working directory).
set -f

EXCLUDE_ARGS=
for excl in $EXCLUDE_FOLDERS; do
	if [ -z "$EXCLUDE_ARGS" ]; then
		EXCLUDE_ARGS="-wholename $BASEDIR/$excl/*"
	else
		EXCLUDE_ARGS+=" -o -wholename $BASEDIR/$excl/*"
	fi
done
for excl in $EXCLUDE_PATTERNS; do
	EXCLUDE_ARGS+=" -o -wholename */$excl/*"
done
INCLUDE_H_ARGS=
for ext in $H_EXTENSIONS $HXX_EXTENSIONS; do
	if [ -z "$INCLUDE_H_ARGS" ]; then
		INCLUDE_H_ARGS="-name *$ext"
	else
		INCLUDE_H_ARGS+=" -o -name *$ext"
	fi
done
INCLUDE_C_ARGS=
for ext in $C_EXTENSIONS $CXX_EXTENSIONS; do
	if [ -z "$INCLUDE_C_ARGS" ]; then
		INCLUDE_C_ARGS="-name *$ext"
	else
		INCLUDE_C_ARGS+=" -o -name *$ext"
	fi
done
# Also exclude all submodules -- because we don't maintain those (are we?).
for subm in $SUBMODULES; do
	if [ -z "$SUBMODULES_ARGS" ]; then
		SUBMODULES_ARGS="-wholename $BASEDIR/$subm/*"
	else
		SUBMODULES_ARGS+=" -o -wholename $BASEDIR/$subm/*"
	fi
done

echo -n "Finding all source files with #include's (excluding submodules and build directory)... "
find $BASEDIR -mindepth 2 -type f ! \( -wholename $BASEDIR/build_* -o $EXCLUDE_ARGS -o $SUBMODULES_ARGS \) \( $INCLUDE_C_ARGS -o $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_sources
cat "$TMPDIR/fix_headers_sources" | xargs grep -l "$INCLUDE_RE" > $TMPDIR/fix_headers_sources_with_includes
echo "done"
number_of_files=$(sed -n '$=' "$TMPDIR/fix_headers_sources_with_includes")
count=0

echo -n "Finding all submodule header files (excluding stdc++ headers)... "
find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) \( $SUBMODULES_ARGS \) \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_SUBMODULE_HEADERS
echo "done"

echo -n "Finding all header files (excluding stdc++ headers)... "
find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) -wholename $BASEDIR/build_* \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_HEADERS
grep -E "$HEADER_RE" $TMPDIR/fix_headers_sources >> $TMPDIR/fix_headers_HEADERS
cat $TMPDIR/fix_headers_SUBMODULE_HEADERS >> $TMPDIR/fix_headers_HEADERS
echo "done"

echo -n "Finding all include paths... "
for f in `cat $TMPDIR/fix_headers_sources_with_includes`; do grep -E "$INCLUDE_RE" $f | sed -r -e "s%$INCLUDE_RE%%"';s/[">].*//'; done | sort -u | grep -E -v "(/|^)$EXCLUDE_PATTERNS_RE/" > $TMPDIR/fix_headers_include_paths
echo "done"

function include_path()
{
	# If the include path starts with a '.', then it is a local header.
	if [[ $1 =~ ^\. ]]; then return 1; fi
	# If the include path starts with 'platforms/' then it is a local header;
	# added this exception here because not everyone has all build_ directories for all targets installed.
	if [[ $1 =~ platforms/ ]]; then return 1; fi
	# apps.h is generated from apps.h.in.
	if [ $1 = "apps.h" ]; then return 1; fi
	# Treat the following headers from src/platforms/*/include as system header because they replace what is found in nuttx (for posix and qurt).
	if [ $1 = "arch/board/board.h" -o $1 = "crc32.h" -o $1 = "i2c.h" -o $1 = "queue.h" -o $1 = "poll.h" -o $1 = "sys/ioctl.h" ]; then return 2; fi
	# Escape the path for reg.exp. matching.
	PATH_RE=$(echo $1 | sed -e 's/\([+.]\)/\\\1/')
	issubmodule=0;
	islocal=0;
	foo=0
	for includedir in $(grep "/$PATH_RE\$" $TMPDIR/fix_headers_HEADERS | cut -c $striplen-); do
		# If the include directory is NuttX header that was copied to the build directory, then it's still a system file.
		if [[ $includedir/ =~ ^build_.*/NuttX/ ]]; then
			issubmodule=1
		# If the include directory is a submodule, then treat it as a system file.
		elif [[ $includedir/ =~ ^$SUBMODULES_RE/ ]]; then
			issubmodule=1;
		else
			islocal=1
		fi
	done
	if [ $islocal -eq 0 ]; then
		if [ $issubmodule -eq 0 ]; then
			# If an include path can't be found then usually it will be a real system header,
			# however, there are a few (ros related?) files that start with px4... In that
			# case just leave the quotes alone ("px4muorb.h" and several <px4/...>).
			if [[ $1 =~ ^px4 ]]; then return 0; fi
			# While if the include path starts with uORB/topics or topics, and it isn't found,
			# then likely we just don't have a build directory. These should be local though.
			# Same for the generated files mixer_multirotor.generated.h and build_git_version.h.
			if [[ $1 =~ ((/|^)topics/|mixer_multirotor\.generated\.h|build_git_version\.h) ]]; then return 1; fi
		fi
		return 2;
	fi	# Submodule or system header.
	if [ $issubmodule -eq 0 ]; then return 1; fi	# Local.
	# Files that are both local and submodule are simply left alone.
	# These are (at this moment): "battery.h" "common.h" "Matrix.hpp" "mavlink.h" "protocol.h" "pwm.h" "spi.h" "Vector.hpp".
	return 0;
}

# Run the include_path function for each of the files in $TMPDIR/fix_headers_include_paths
echo -n "Determining which headers need to be included with double quotes... "
echo -n > $TMPDIR/fix_headers_quotes
for arg in $(cat "$TMPDIR/fix_headers_include_paths"); do
	include_path $arg
	localsystem=$?
	if [ $localsystem -eq 1 ]; then
		echo "$arg \"$arg\"" >> $TMPDIR/fix_headers_quotes
	elif [ $localsystem -eq 2 ]; then
		echo "$arg <$arg>" >> $TMPDIR/fix_headers_quotes
	fi
done
echo "done"

# Truncate the error log.
echo -n > $TMPDIR/fix_headers_ERROR.log

function print_error
{
	echo
	echo -n "  ";
	echo "*** $1" | tee -a "$TMPDIR/fix_headers_ERROR.log"
	return 1
}

if [ $debug -ne 0 ]; then
	# Debug Line.
	DL='if (cdbl != NR) { printf "\n%u. \"%s\"", NR, $0; cdbl = NR }'
	# Debug Begin.
	DB='if (cdbl != NR) { printf "\n%u. \"%s\" ---> ", NR, $0; cdbl = NR } else printf "; "; printf'
	# Debug End.
	DE=''
else
	DL='#'
	DB='#'
	DE=''
fi
# Error Prefix.
EP='###'

# The main function that is called for each source file.
function fixup_header
{
	count=$((count + 1))
	echo -n "[$((100 * count / number_of_files))%] Fixing headers of $1... "

	# Is this a header?
	echo "$1" | sed -e 's/\.in$/;in/;s/.*\././;s/;in$/.in/' | grep -v -E "$HEADER_RE\$" >/dev/null; is_header=$?
	if [ $debug -ne 0 ]; then echo "is_header = \"$is_header\""; fi

	# Is this C++ source?
	echo "$1" | sed -e 's/.*\././' | grep -v -E $CXXSRC_RE >/dev/null; is_cxxsrc=$?
	if [ $debug -ne 0 ]; then echo "is_cxxsrc = \"$is_cxxsrc\""; fi
	dont_make_cxxsrc=1
	if [ $is_cxxsrc -eq 0 -a $is_header -ne 0 ]; then
		grep -m 1 -q -E "^[[:space:]]*(#[[:space:]]*include[[:space:]]*<$STDCXX_HEADERS_RE>|(template|namespace|class)(\$|[^[:alnum:]_]))" "$1"
		dont_make_cxxsrc=$?
	fi
	if [ $dont_make_cxxsrc -eq 0 ]; then
		is_cxxsrc=1
	fi

	# Current directory.
	curdir=$(dirname "$BASEDIR/$1")

	# Parse the file.
	#
	# Returns an array of line[]'s. The first line is either the first #include, when it is outside
	# any #if*...#endif constructs not counting the header guard if the file is a header. For example:
	#
	#	  // Anything here except #include lines.
	#	  #include <first_include.h>	// <-- first line.
	#
	# Or, the first #if* that contains the first #include line. For example:
	#	  // Anything here except #include lines.
	#	  #ifndef FOO_H // header guard.
	#	  #define FOO_H
	#	  int global = 1; // Anything unknown.
	#	  #ifdef SOMETHING		// <-- first line.
	#	  #if maybe_more
	#	    // anything except #include lines.
	#	  #else
	#	    // anything except #include lines.
	#	    #include <first_include.h>
	#
	# Subsequent line[]'s mark the beginning of a new block, where we have the following blocks:
	# type[]		Description
	type_include=0		# An #include, outside #if*...#endif constructs except a possible header guard.
	type_ifincludeendif=1	# #if*...#endif constructs with #include's.
	type_ifendif=2		# #if*...#endif constructs without #include's.
	type_decls=3		# __BEGIN_DECLS ... __END_DECLS block.
	type_macro=4		# Contiguous #define block.
	type_comment=5		#(Multi-line) comments.
	type_emptyline=6	# Empty lines.
	type_pragmaonce=7	# #pragma once (must be outside any #if*...#endif constructs).
	type_end=8		# The first line of the remainder of the file.
	#
	# However, any block NOT containing one or more #include's (all types > 1) will
	# cause subsequent blocks that do not contain #include's to be ignored,
	# with as result that those blocks will be treated as contiguous code blocks.
	# A comment that is followed by a type that is not to be ignored as such
	# is given the type that follows (which itself is then ignored).
	# Empty lines are ignored unless they appear directly in front of a type
	# that is not to be ignored according to the above rules, where 'previous
	# types' then are the types before the empty line.
	#
	# For example:
	#
	#   >	#include <first_header.h>	# type_include
	#   >	#include <second_header.h>	# type_include
	#   >					# type_emptyline
	#   >	#include <third_header.h>	# type_include
	#   ^	#ifdef FOO			# type_ifendif
	#   |	#define BAR 1
	#   |	#endif				# (detected here)
	#   |								<-- ignored because:
	#   v	#define BAZ(x) x // Do baz				<-- ignored (prev and this type in {type_ifendif, type_macro})
	#   >					# type_emptyline
	#   ^	// This include is important:	# type_comment, but then replaced by type_ifincludeendif
	#   |								<-- ignored because:
	#   |	// more here.						<-- ignored same type
	#   |	#ifdef BAR						<-- "ignored": type_ifincludeendif, but put 3 lines higher.
	#   |	#include <bar.h>
	#   v	#endif				# (detected here)
	#   >					# type_emptyline
	#   >	#include <another.h>		# type_include
	#
	# This script stops parsing at the first not recognized line outside #if*...#endif constructs
	# unless no first line was found yet. It does not attempt overly hard to decode rare constructs,
	# most notably anything with a leading C comment is not recognized and will thus lead to an abort.
	# For example the following lines are not recognized:
	#
	# /* Some comment */ #include <header.h>
	# /* Some comment */ // Another comment.
	#
	# Lines that have a trailing comment are recognized (by ignoring the comment).

	result=$(awk "\
		function add(l, t) {
			# First add always succeeds.
			if (ptr > 0) {
				# An empty line is always added, at first, unless the immediate preceding type is an empty line.
				if (t == $type_emptyline && type[ptr - 1] == $type_emptyline) {
					return;				$DB \"ignored because line %d is also empty.\", line[ptr - 1] $DE
				}
				# A comment is always, added at first, unless the preceding non-empty line type is a comment.
				# Same for #include's.
				if (t == $type_comment && last_none_type == t) {
									$DB \"ignoring because same type as last_none_type (%s)\", type_name[t] $DE
					# Gobble up preceding empty lines.
					if (type[ptr - 1] == $type_emptyline) {
						--ptr;			$DB \"ptr = %d; [43mRemoved type_emptyline @ line %d[0m\", ptr, line[ptr] $DE
					}
					return;

				}
				# {ifendif, macro}'s are collapsed too.
				if ((t == $type_ifendif || t == $type_macro) && (last_nonws_type == $type_ifendif || last_nonws_type == $type_macro)) {
					# Gobble up preceding comments and empty lines.
					while (ptr > 0 && (type[ptr - 1] == $type_emptyline || type[ptr - 1] == $type_comment)) {
						--ptr;			$DB \"ptr = %d; [43mRemoved %s @ line %d[0m\", ptr, type_name[type[ptr]], line[ptr] $DE
					}
					# ptr > 0 here because the first add is never for an empty line or comment.
					last_none_type = type[ptr - 1];	$DB \"last_none_type = %s\", type_name[last_none_type] $DE
					return;
				}
				# type_include and type_pragmaonce and higher are always added.
			}
			if (t == $type_end) {
				# Remove drag.
				while(ptr > 0 && line[ptr - 1] >= l) --ptr;
			}
			# If this type is not an empty line and it was preceded by a comment, then melt it together with that comment.
			else if (t != $type_emptyline && last_none_type == $type_comment) {
				# In this case t cannot be type_comment.
				# Gobble up preceding empty lines.
				if (type[ptr - 1] == $type_emptyline) {
					--ptr;				$DB \"ptr = %d; [43mRemoved type_emptyline @ line %d[0m\", ptr, line[ptr] $DE
				}
				# And replace the comment type.
				--ptr;					$DB \"ptr = %d; [45mreplacing the %s @ line %d[0m\", ptr, type_name[type[ptr]], line[ptr] $DE
				l = line[ptr];

			}
			line[ptr] = l;					$DB \"ptr = %d; [42m%s @ line %d[0m\", ptr, type_name[t], l $DE;
			type[ptr++] = t;
			if (t != $type_emptyline) {
				last_none_type = t;			$DB \"last_none_type = %s\", type_name[last_none_type] $DE
				if (t != $type_comment)
					last_nonws_type = t;
			}
		}

		BEGIN {
			debug = $debug;		# 0: no debug output; non-zero: print debug output.
			header = $is_header;	# 0: do not look for a header guard; 1: treat first #ifndef as header guard.
			in_if = 0;		# The number of nested levels inside #if, #ifdef or #ifndef ... #endif constructs.
			in_if_base = 0;		# 0: no header guard was found (or #pragma once); 1: an #ifndef header guard was found.
			in_decl = 0;		# 0: not inside a __BEGIN_DECLS ... __END_DECLS block; 1: inside such a block.
			found_guard = 0;	# 0: no header guard was found; 1: a header guard was found (including #pragma once).
			base_if = 0;		# The current base-level #if that we are scanning.
			drag = 0;		# The number of lines since the last certainly relevant line (a base-level #include or a base-level #endif containing one of more #includes).
			skipped = 0;		# 0: No #include was encountered in the current (base-level) #if block; 1: one or more #include's encountered in the current base-level #if block.
			in_comment = 0;		# 0: not in a multi-line C comment; 1: in a multi-line C comment.
			cdbl = 0;		# Current debug line.
			error = 0;		# 0: no error occured; 1: an error occured.
			ptr = 0;		# Current pointer into line[] and type[].
			found_comment_end = 0;	# The last line (possibly the current line) that is/was a multi-line C comment termination.
			last_none_type = -1;	# The last non-emptyline type that was added.
			last_nonws_type = -1;	# The last non-whitespace type that was added.
			# For debug purposes:
			type_name[$type_ifendif] = \"type_ifendif\";
			type_name[$type_ifincludeendif] = \"type_ifincludeendif\";
			type_name[$type_decls] = \"type_decls\";
			type_name[$type_comment] = \"type_comment\";
			type_name[$type_emptyline] = \"type_emptyline\";
			type_name[$type_include] = \"type_include\";
			type_name[$type_macro] = \"type_macro\";
			type_name[$type_pragmaonce] = \"type_pragmaonce\";
			type_name[$type_end] = \"type_end\";
		}

		END {
			last_line = NR - drag;
			add(last_line + 1, $type_end);			$DB \"\n\" $DE;
			# Print output.
			if (error || ptr == 0 || last_line < line[0]) {
				print \"error=1\";
				exit
			}
			printf \"lines=\\\"\";
			for (i = 0; i < ptr - 1; ++i)
				printf \"%d \", line[i];
			printf \"%d\\\"; \", line[ptr - 1];
			printf \"types=\\\"\";
			for (i = 0; i < ptr - 1; ++i)
				printf \"%d \", type[i];
			printf \"%d\\\"; \", type[ptr - 1];
			print \"error=0; first_line=\" line[0] \"; last_line=\" last_line
		}

	#======================================================================================================
	# Handle multi-line C comments.

		/$COMMENT_END_RE/ {
			if (in_comment) {
				in_comment = 0;				$DB \"comment end\" $DE;
				found_comment_end = NR;
				sub(/^([^*]|\*+[^*\/])*\*+\//, \"\")	# Remove the tail of the comment.
			}
			# FALL-THROUGH
		}

		{
			if (in_comment) {
				++drag;					$DB \"in comment; drag = %d\", drag $DE;
				next
			}
			found_comment_begin = 0;
			# FALL-THROUGH
		}

		/$COMMENT_BEGIN_RE/ {
			in_comment = 1;					$DB \"comment begin\" $DE;
			found_comment_begin = 1;
			sub(/\/\*([^*]|\*+($|[^*\/]))*$/, \"\")		# Remove the head of the comment so that we'll recognize this as an empty line if it is.
			# FALL-THROUGH
		}

	#======================================================================================================
	# Detect and handle header guard.

		/$PRAGMA_ONCE_RE/ {
			++drag;						$DB \"drag = %d\", drag $DE;
			if (header && found_guard == 0 && in_if == 0) {
				found_guard = NR;			$DB \"found_guard = %d\", found_guard $DE;
				if (ptr > 0)
					add(NR, $type_pragmaonce)
				next
			}
			print \"\\n$EP $1:\" NR \": unexpected #pragma once\";
			error = 1;
			exit
		}

		/^#ifndef / {
			if (ptr == 0 && header && found_guard == 0 && in_if == 0) {
				found_guard = NR;			$DB \"found_guard = %d\", found_guard $DE;
				in_if = 1;				$DB \"in_if = %d\", in_if $DE;
				in_if_base = 1;				$DB \"in_if_base = %d\", in_if_base $DE;
				next
			}
			# FALL-THROUGH
		}

	#======================================================================================================
	# Detect and handle __BEGIN_DECLS ... __END_DECLS blocks.

		/^[[:space:]]*__BEGIN_DECLS/ {
			++drag;						$DB \"drag = %d\", drag $DE;
			if (in_decl == 0) {
				in_decl = 1;				$DB \"in_decl = 1\" $DE
				add(NR, $type_decls);
				next
			}
			print \"\\n$EP $1:\" NR \": Nested __BEGIN_DECLS!\";
			error = 1;
			exit
		}

		/^[[:space:]]*__END_DECLS/ {
			++drag;						$DB \"drag = %d\", drag $DE;
			if (in_decl == 1) {
				in_decl = 0;				$DB \"in_decl = 0\" $DE
				if (skipped) {
					drag = 0;
				} else if (ptr == 1) {
					ptr = 0;			$DB \"erase DECLS block\" $DE
					last_none_type = -1;
				}
				next
			}
			print \"\\n$EP $1:\" NR \": __END_DECLS without matching __BEGIN_DECLS!\";
			error = 1;
			exit
		}

	#======================================================================================================
	# Detect and handle #if ... #endif blocks.

		/$IF_RE/ {
			++drag;						$DB \"drag = %d\", drag $DE;
			if (in_if == in_if_base && in_decl == 0) {
				skipped = 0;				$DB \"skipped = 0\" $DE;
				base_if = NR;				$DB \"base_if = %d\", NR $DE;
			}
			++in_if;					$DB \"in_if = %d\", in_if $DE;
			next
		}

		/$ENDIF_RE/ {
			--in_if;					$DB \"in_if = %d\", in_if $DE;
			if (in_if < 0) {
				print \"\\n$EP $1:\" NR \": #endif without matching #if!\";
				error = 1;
				exit
			}
			++drag;
			if (in_if == in_if_base && in_decl == 0) {
				if (skipped) {
					drag = 0;
					add(base_if, $type_ifincludeendif);
				} else if (ptr > 0)
					add(base_if, $type_ifendif);
			}						$DB \"drag = %d\", drag $DE;
			# Left header guard?
			if (in_if < in_if_base) {			$DB \"left header guard:\" $DE;
				# assert(in_if == 0 && in_if_base == 1 && header && found_guard)
				exit
			}
			next
		}

	#======================================================================================================
	# Handle #include lines.

		/$INCLUDE_RE/ {
			if (!/\"(\.\/)?mavlink_msg/) {
				# If we're inside a __BEGIN_DECLS ... __END_DECLS block then only certain headers may be included.
				hname = gensub(/^[[:space:]]*#[[:space:]]*include[[:space:]]*[<\"]([^>\"]*)[>\"].*/, \"\\\1\", \"1\");
				cpp_safe = !(hname ~ /$UNSAFE_HEADERS_RE/);
										$DB \"hname = \\\"\" hname \"\\\"; cpp_safe = \" cpp_safe \"; in_decl = \" in_decl \"; is_cxxsrc = $is_cxxsrc\" $DE
				if (in_decl && cpp_safe) {
					print \"\\n$EP $1:\" NR \": including \" hname \" inside a __BEGIN_DECLS ... __END_DECLS block.\";
					error = 1;
					exit
				} else if (!in_decl && !cpp_safe && $is_cxxsrc) {
					print \"\\n$EP $1:\" NR \": including \" hname \" outside a __BEGIN_DECLS ... __END_DECLS block!\";
					error = 1;
					exit
				}
				if (in_if > in_if_base || in_decl) {
					skipped = 1;				$DB \"skipped = 1\" $DE;
				} else {
					drag = 0;				$DB \"drag = 0\" $DE;
					add(NR, $type_include);			$DB \"first_line = %d\", NR $DE;
				}
				next
			}
		}

	#======================================================================================================
	# Ignore #define's, empty lines and lines with just comments.

		/$DEFINE_RE/ {
			++drag;						$DB \"drag = %d\", drag $DE;
			if (ptr > 0 && in_if == in_if_base && in_decl == 0) {
				add(NR, $type_macro);
			}
			next
		}

		/$EMPTY_LINE_RE/ {
			++drag;						$DB \"drag = %d\", drag $DE;
			if (ptr > 0 && in_if == in_if_base && in_decl == 0) {
				if (found_comment_begin)
					add(NR, $type_comment);
				else if (found_comment_end != NR)
					add(NR, $type_emptyline);
			}
			next
		}

		/$COMMENT_LINE_RE/ {
			++drag;						$DB \"drag = %d\", drag $DE;
			if (ptr > 0 && in_if == in_if_base && in_decl == 0 && type[ptr - 1] != $type_comment) {
				add(NR, $type_comment);
			}
			next
		}

	#======================================================================================================
	# Handle everything else (unrecognized lines).

		{
			++drag;						$DB \"unknown; drag = %d\", drag $DE;
			if (ptr > 0 && in_if <= in_if_base && in_decl == 0) {
				exit
			}
		}

		" "$BASEDIR/$1")

	# Decode the result.
	vars=$(echo "$result" | tail -n 1)
	error_msg=$(echo "$result" | grep "^$EP " | sed -e 's/^....//')
	if [ $debug -ne 0 ]; then
		len=$(echo "$result" | wc --lines)
		echo "$result" | head -n $((len - 1)) | grep -v "^$EP "	# Debug messages
		echo "vars: $vars"
	fi
	# Evaluate the last line printed in END.
	error=1; eval $vars
	test -z "$error_msg" || print_error "$error_msg" || return
	test $error -eq 0 -a $first_line -gt 0 || print_error "FAILED to find an #include in $1?!" || return
	test $last_line -ge $first_line || print_error "FAILED to find a sensible last line in $1?!" || return

	# Calculate the number of lines starting from the current line.
	# Use sed to count lines, because wc --lines doesn't report the last line when that doesn't end on a new-line, contrary to the fact that tail treats such lines as lines.
	total_lines=$(sed -n '$=' "$BASEDIR/$1")
	if [ $debug -ne 0 ]; then echo "total_lines = \"$total_lines\""; fi

	# Edit the first_line...last_line block.
	# Header files are ordered as follows (lowest value first):
	cat_winsock=0;		# Winsock2.h
	cat_posix_sys=1;	# posix_sys.h or one of the px4_ headers that include it.
	cat_px4=2;		# Other px4_*.h
	cat_local=3;		# "*.h"
	cat_cxx=4;		# <std c++ header>, ie <iostream>
	cat_c=5;		# <c std c++ header>, ie <cstdio>
	cat_system=6;		# <*.h>

	head -n $last_line "$BASEDIR/$1" | tail -n $((last_line - first_line + 1))  | awk "

		function sort_by_type_line_header_type_hname(blk2, v2, blk1, v1) {
			# Return true if blk1 comes before blk2.
			# Move type_include before the rest. Keep the same line order for the rest.
			return (type[blk2] != $type_include && (type[blk1] == $type_include || line[blk1] < line[blk2])) ||
			       (type[blk2] == $type_include && type[blk1] == $type_include &&
				   # If both are include's then put include with a lower header_type first; sort alphabetically for the same header type.
				   (header_type[blk1] < header_type[blk2] || (header_type[blk1] == header_type[blk2] && hname[blk1] < hname[blk2])));
		}

		BEGIN {
			first_line = $first_line;
			split(\"$lines\", line);
			split(\"$types\", type);
			i = 0;
			do {
				line[++i] -= first_line - 1;
			} while(type[i] != $type_end)
			for(b = 0; b < i; ++b) header_type[b] = 100;
			blk = 1;
			n = 0;
			is_cxxsrc = $is_cxxsrc;
			# px4_posix.h includes px4_defines.h includes px4_log.h includes posix_sys.h which must be the first header included.
			sys_val[\"px4_posix.h\"] = 1;
			sys_val[\"px4_defines.h\"] = 2;
			sys_val[\"px4_log.h\"] = 3;
			sys_val[\"posix_sys.h\"] = 4;
			saw_sys_val = 5;		# Didn't see any of the above; otherwise the lowest value of the header seen.
			for(b = 0; b < i; ++b) saw_sys[b] = saw_sys_val;
		}

		END {
			l = asorti(txt, k, \"sort_by_type_line_header_type_hname\");
			for (b = 1; b <= l; ++b) {
				if (type[k[b]] == $type_include && header_type[k[b]] == $cat_posix_sys && saw_sys[k[b]] > saw_sys_val) continue;
				len = length(txt[k[b]]);
				for (n = 0; n < len; ++n) print txt[k[b]][n];
				if (b < l && type[k[b]] == $type_include && type[k[b+1]] != $type_emptyline &&
				    (type[k[b+1]] != $type_include || (header_type[k[b]] != header_type[k[b+1]] && header_type[k[b+1]] != $cat_px4))) {
					printf \"\n\";
				}
			}
		}

		{
			if (NR == line[blk + 1]) {
				++blk;
				n = 0;
			}
		}

		/$INCLUDE_RE/ {
			# Don't use double quotes around standard header names.
			\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)\\\"$STDC_HEADERS_RE\\.h\\\"/, \"\\\1<\\\2.h>\", \"1\");
			if (is_cxxsrc) {
				\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)\\\"$STDCXX_HEADERS_RE\\\"/, \"\\\1<\\\2>\", \"1\");
				# Change deprecated C header names to standard C++ header names in C++ source files.
				\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*<)$STDC_HEADERS_RE\\.h>/, \"\\\1c\\\2>\", \"1\");
			}
			# Don't include \"./foo.h\", that is implied, so just include \"foo.h\".
			\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*\\\")\.\//, \"\\\1\", \"1\");
			# Extract the header filename.
			hname[blk] = gensub(/^[[:space:]]*#[[:space:]]*include[[:space:]]*[<\"]([^>\"]*)[>\"].*/, \"\\\1\", \"1\");
			# If the header exists in the directory of the including file, then it is a local header.
			command = sprintf(\"test -e %s/%s\", \"$curdir\", hname[blk]);
			if (system(command) == 0) {
				\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)[\"<]([^\">]*)[\">]/, \"\\\1\\\"\\\2\\\"\", \"1\");
			} else {
				# Do we know if this is a local file, or a submodule / system header?
				# The grep reg.exp needs \\ (for backslah) and \1 for back reference, thus: \\\1.
				# However we print the grep command using sprintf, so each backslash needs to be escaped once more: \\\\\\1.
				# Finally, this is a bash string and we need to escape each backslash once more to pass it corrently to awk, hence we need twelve backslahes:
				command = sprintf(\"grep '^%s ' '%s' 2>/dev/null\", gensub(/([.+])/, \"\\\\\\\\\\\\1\", \"g\", hname[blk]), \"$TMPDIR/fix_headers_quotes\");
				ret = command | getline result;
				if (ret != 0) {
					result = substr(result, index(result, \" \") + 1);
					\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)[\"<][^\">]*[\">]/, \"\\\1\" result, \"1\");
				}
			}
			# Categorise the header.
			if (hname[blk] == \"Winsock2.h\") {
				if (header_type[blk] > $cat_winsock)
					header_type[blk] = $cat_winsock;
			}
			else if (hname[blk] in sys_val) {
				if (header_type[blk] > $cat_posix_sys)
					header_type[blk] = $cat_posix_sys;
				# posix_sys.h is sometimes included within #ifdef __PX4_POSIX ... #endif. The other headers should not be conditional.
				if ((hname[blk] == \"posix_sys.h\" || type[blk] == $type_include)) {
					type[blk] = $type_include;		# Treat #ifdef __PX4_POSIX #include \"posix_sys.h\" #endif as an include for sorting purposes.
					saw_sys[blk] = sys_val[hname[blk]];	# There will be only one include (header name) for this block.
					if (sys_val[hname[blk]] < saw_sys_val)
						saw_sys_val = sys_val[hname[blk]];
				}
				# Use double quotes for these headers.
				\$0 = gensub(/<([[:alnum:]_\/.]*)>/, \"\\\"\\\1\\\"\", \"1\");
			}
			else if (hname[blk] ~ /^(platforms\/px4_|px4_)/) {
				if (header_type[blk] > $cat_px4)
					header_type[blk] = $cat_px4;
				# Use double quotes for these headers.
				\$0 = gensub(/<([[:alnum:]_\/.]*)>/, \"\\\"\\\1\\\"\", \"1\");
			}
			else if (\$0 ~ /^[[:space:]]*#[[:space:]]*include[[:space:]]*\"/) {
				if (header_type[blk] > $cat_local)
					header_type[blk] = $cat_local;
			}
			else if (hname[blk] ~ /^$STDCXX_HEADERS_RE\$/) {
				if (header_type[blk] > $cat_cxx)
					header_type[blk] = $cat_cxx;
			}
			else if (hname[blk] ~ /^c$STDC_HEADERS_RE\$/) {
				if (header_type[blk] > $cat_c)
					header_type[blk] = $cat_c;
			}
			else if (hname[blk] ~ /^$STDC_HEADERS_RE\.h\$/) {
				if (header_type[blk] > $cat_system)
					header_type[blk] = $cat_system;
			}
		}

		{
			# Remove empty lines before #include's.
			if (type[blk] == $type_include) {
				for (i = 1; blk > i && type[blk - i] == $type_emptyline; ++i)
					delete txt[blk - i]
			}
			txt[blk][n++] = \$0;
		}

		" > $TMPDIR/fix_headers_current_block

	# Construct a new file in TMPDIR.
	head -n $((first_line - 1)) "$BASEDIR/$1" > $TMPDIR/fix_headers_current_file

	# Append the editted block.
	cat $TMPDIR/fix_headers_current_block >> $TMPDIR/fix_headers_current_file

	# Append the rest.
	tail -n $((total_lines - last_line)) "$BASEDIR/$1" >> $TMPDIR/fix_headers_current_file

	# Compare original with result.
	if cmp --quiet "$BASEDIR/$1" $TMPDIR/fix_headers_current_file; then
		echo "No change"
	else
		echo "Fixed lines $first_line-$last_line"
		mv $TMPDIR/fix_headers_current_file "$BASEDIR/$1" || fatal "Failed to move $TMPDIR/fix_headers_current_file to $BASEDIR/$1 !?!"
	fi
}

if [ $non_option_arguments -ne 0 ]; then
	fixup_header $1
	exit
fi

# Run the fixup function for each of the files in $TMPDIR/fix_headers_sources_with_includes.
# Strip BASEDIR because we don't know how long that is and it might too much for bash.
for arg in $(cat "$TMPDIR/fix_headers_sources_with_includes" | cut -c $striplen-); do
		fixup_header $arg
done

# Clean up.
if [ $debug -eq 0 -o $# -eq 0 ]; then
	rm "$TMPDIR/fix_headers_sources" "$TMPDIR/fix_headers_sources_with_includes" "$TMPDIR/fix_headers_SUBMODULE_HEADERS" "$TMPDIR/fix_headers_HEADERS" \
	   "$TMPDIR/fix_headers_include_paths" "$TMPDIR/fix_headers_quotes" "$TMPDIR/fix_headers_current_block"
fi

# Print all error messages again at the end.
if [ -s "$TMPDIR/fix_headers_ERROR.log" ]; then
	echo "$0 finished with errors:"
	cat "$TMPDIR/fix_headers_ERROR.log"
else
	echo "SUCCESS"
	rm "$TMPDIR/fix_headers_ERROR.log"
fi
-												Add Tools/fix_headers.sh

Running this script will parse the top of all source files
that are not submodules, examples or test cases, to find
all #include's and then do basically two things:

1) Reorder and group the headers so that px4_* headers are
   included first, then local headers (headers of the project
   that aren't submodules) then C++ headers if any, then C
   headers if any, then system headers (which includes submodules)
   and finally any #includes that are inside #if*...#endif
   constructs.
2) Fix the use of "" or <> in a consistent manner.

Afterwards few fixes might be necessary for compile errors that
pop up. Most of those are already fixed in my previous commits.
However, I was not able to test a compilation for ros
(with __PX4_ROS defined) -- so some more fixes might be necessary
because of the header reordering.

The script comes with a progress counter and an error summary
(if any) at the end (so no scrolling back is necessary).
It is highly recommended to only run this script in a clean
project with no outstanding changes that need to be committed.
In fact, the script enforces this (unless you pass --force).
Reverting a run of the script is then easy with 'git checkout .'.

It is also possible to run the script on a single file
by passing that on the command line. In that case it
might make sense to pass --debug too, though that was really
meant for just me, while developing the script. This will write
debug output into the file that is passed, so you don't
want to commit that! ;)

											
										
										
											2016-09-28 13:34:35 -03:00
+								#! /bin/bash
 								# Written by Carlo Wood, September/October 2016.
 								function fatal
 								{
 									echo "$0: ERROR: $*"
 									exit 1
 								}
-												Stop people from using broken awk.

											
										
										
											2016-11-05 22:17:30 -03:00
+								# Make sure we're not having a broken gawk.
 								AWK_VERSION=$(awk -V | head -n 1)
 								if [[ $AWK_VERSION =~ ^GNU\ Awk\ 4\.[0-9]+\.[0-9]+ ]]; then
 									AWK_VERSION=$(echo $AWK_VERSION | sed -e 's/GNU Awk \(4\.[0-9]*\.[0-9]*\).*/\1/')
 									if [[ $AWK_VERSION =~ ^4\.0*([2-9]+|1\.0*[2-9]+) ]]; then
 										fatal "Your version of awk ($AWK_VERSION) is broken. Please use version 4.1.1 or lower."
 									fi
 								fi
 								echo "AWK_VERSION=$AWK_VERSION"
-												Add Tools/fix_headers.sh

Running this script will parse the top of all source files
that are not submodules, examples or test cases, to find
all #include's and then do basically two things:

1) Reorder and group the headers so that px4_* headers are
   included first, then local headers (headers of the project
   that aren't submodules) then C++ headers if any, then C
   headers if any, then system headers (which includes submodules)
   and finally any #includes that are inside #if*...#endif
   constructs.
2) Fix the use of "" or <> in a consistent manner.

Afterwards few fixes might be necessary for compile errors that
pop up. Most of those are already fixed in my previous commits.
However, I was not able to test a compilation for ros
(with __PX4_ROS defined) -- so some more fixes might be necessary
because of the header reordering.

The script comes with a progress counter and an error summary
(if any) at the end (so no scrolling back is necessary).
It is highly recommended to only run this script in a clean
project with no outstanding changes that need to be committed.
In fact, the script enforces this (unless you pass --force).
Reverting a run of the script is then easy with 'git checkout .'.

It is also possible to run the script on a single file
by passing that on the command line. In that case it
might make sense to pass --debug too, though that was really
meant for just me, while developing the script. This will write
debug output into the file that is passed, so you don't
want to commit that! ;)

											
										
										
											2016-09-28 13:34:35 -03:00
+								# Find out what the base directory is.
 								BASEDIR="$(dirname $(dirname $(readlink -en "$0")))"
 								echo "BASEDIR=\"$BASEDIR\""
 								striplen=$((${#BASEDIR} + 2))
 								# BASEDIR may not contain a space, that's just too hard to get to work.
 								expr index "$BASEDIR" " " >/dev/null && fatal "it is not supported that BASEDIR contains a space."
 								# Make sure that worked.
 								test -f $BASEDIR/cmake/posix/px4_impl_posix.cmake || fatal "Failed to determine BASEDIR: '\$BASEDIR/cmake/posix/px4_impl_posix.cmake' is not a regular file."
 								# Parse command line parameters.
 								debug=0	# Set to non-zero to enable debugging.
 								force=0	# Set to 1 to force running of script even when there are uncommitted changes.
 								merge=0	# Set to 1 when merging a branch that didn't run this script into master that did already run this script.
 								while [[ $# -gt 0 ]]
 								do
 									case $1 in
 										--debug)
 											debug=1
 											;;
 										--force)
 											force=1
 											;;
 										--merge)
 											force=1
 											merge=1
 											fatal "--merge is not implemented yet."
 											;;
 										-*)
 											fatal "Unknown option $1"
 											;;
 										--|*)
 											break
 											;;
 									esac
 									shift
 								done
 								non_option_arguments=$#
 								if [ $non_option_arguments -eq 0 -a $debug -ne 0 ]; then
 									fatal "--debug screws up the source files with debug output! You must provide a single filename to run on."
 								fi
 								# Better not run this script with changes that still need to be committed.
 								cd "$BASEDIR" || fatal "Could not change directory to \"$BASEDIR\""
 								if ! git diff-index --quiet HEAD --; then
 									if [ $non_option_arguments -ne 0 -o $force -eq 1 ]; then
 										if [ $force -eq 1 ]; then
 											echo "Uncommitted changes, but running anyway because --force is used."
 										else
 											echo -n "WARNING: You have uncommitted changes (use --force to remove this warning). Run anyway? [y/N] "
 											read answer
 											if [ "x$answer" != "xy" -a "x$answer" != "xY" ]; then exit 0; fi
 										fi
 									else
 										fatal "Your working directory has uncommitted changes (see 'git status')! Bailing out."
 									fi
 								fi
 								# Find a reasonable tmp directory.
 								# First make a list of all build directories by looking for a CMakeCache.txt in them. Sort them so the most recent one is first.
 								CMAKECACHE_FILES=$(find "$BASEDIR" -mindepth 2 -maxdepth 2 -type f -name CMakeCache.txt -wholename "$BASEDIR/build_*/CMakeCache.txt" | xargs /bin/ls -td)
 								# Make a list of all candidate tmp directories.
 								TMPDIRS=
 								for f in $CMAKECACHE_FILES; do
 									if [ -d $(dirname $f)/tmp ]; then
 										TMPDIRS+=" $(dirname $f)/tmp"
 									fi
 								done
 								# Put BASEDIR first in case there are no build directories because /tmp is probably on a different file system.
 								TMPDIRS+=" $BASEDIR /tmp ."
 								# Pick the first one that is actually writable.
 								for tmp in $TMPDIRS; do
 									TMPDIR="$tmp"
 									if [ -w "$TMPDIR" ]; then
 										break;
 									fi
 								done
 								test -n "$TMPDIR" || fatal "Can not find a writable tmp directory."
 								echo "TMPDIR=\"$TMPDIR\""
 								# Make a list of all source and header files that we need to fix.
 								# List of directories that we don't want to touch.
 								EXCLUDE_FOLDERS=".git unittests Tools"
 								EXCLUDE_PATTERNS="examples matlab/scripts tests test unit_test *_test *_tests test_* apps/test_* UnitTests"
 								# A regular expression for the exclude patterns.
 								EXCLUDE_PATTERNS_RE="($(echo $EXCLUDE_PATTERNS | sed -e 's/\*/[^\/]*/g;s/ /|/g'))"
 								# Extensions of files that we do want to change (leaving out .y and .py for now).
 								C_EXTENSIONS=".c .c_in .c_shipped"
 								H_EXTENSIONS=".h .h.in .h_template"
 								CXX_EXTENSIONS=".cc .cpp .cpp.in .cxx .cpp_template"
 								HXX_EXTENSIONS=".hh .hpp .hxx"
 								# The regular expression that we consider to be an #include.
 								INCLUDE_RE='^[[:space:]]*#[[:space:]]*include[[:space:]]*[<"]'
 								# Regular expression for empty lines.
 								EMPTY_LINE_RE='^[[:space:]]*$'
 								# Regular expression for one-line comments.
 								COMMENT_LINE_RE='^[[:space:]]*(\/\/.*|\/\*([^*]|\*+[^\/*])*\*+\/[[:space:]]*)$'
 								# Regular expression for a #define (on one line).
 								DEFINE_RE='^[[:space:]]*#[[:space:]]*define[[:space:]].*[^\\]$'
 								# Regular expression for an #if[[n]def].
 								IF_RE='^[[:space:]]*#[[:space:]]*if(n?def)?[[:space:]]'
 								# Regular expression for an #endif.
 								ENDIF_RE='^[[:space:]]*#[[:space:]]*endif($|[^[:alnum:]])'
 								# Regular expression for header file extension.
 								HEADER_RE="($(echo $H_EXTENSIONS $HXX_EXTENSIONS | sed -e 's/\./\\./g;s/ /|/g'))"
 								# Regular expression for C++ source and header files.
 								CXXSRC_RE="($(echo $CXX_EXTENSIONS $HXX_EXTENSIONS | sed -e 's/\./\\./g;s/ /|/g'))"
 								# List of standard C header files. Note that cfcntl, cshed and cunistd are NOT standard header files, even though they are in NuttX/nuttx/include/cxx.
 								REAL_STDC_HEADERS_RE='(cassert|ccomplex|cctype|cerrno|cfenv|cfloat|cinttypes|ciso646|climits|clocale|cmath|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype)'
 								STDC_HEADERS=$(find "$BASEDIR/NuttX/nuttx/include/cxx" -mindepth 1 -maxdepth 1 -type f | xargs basename -a | grep -E "$REAL_STDC_HEADERS_RE" | xargs echo)
 								# Regular expression of standard C header files, but with the leading 'c' stripped.
 								STDC_HEADERS_RE="($(echo $STDC_HEADERS | sed -e 's/^c//;s/ c/|/g'))"
 								# Actual list of standard C header files.
 								# List of standard C++ header files.
 								REAL_STDCXX_HEADERS_RE='(algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|typeindex|typeinfo|type_traits|unordered_map|unordered_set|utility|valarray|variant|vector)'
 								STDCXX_HEADERS=$(find "$BASEDIR/NuttX/misc/uClibc++/include/uClibc++" -mindepth 1 -maxdepth 1 -type f | xargs basename -a | grep -E "$REAL_STDCXX_HEADERS_RE" | grep -E -v "$REAL_STDC_HEADERS_RE" | xargs echo)
 								# Regular expression of C++ header files.
 								STDCXX_HEADERS_RE="($(echo $STDCXX_HEADERS | sed -e 's/ /|/g'))"
 								# Regular expression for #pragma once.
 								PRAGMA_ONCE_RE='^#pragma once'
 								# Regular expression to recognize the start of a C-comment block.
 								COMMENT_BEGIN_RE='(^|[^\/])\/\*([^*]|\*+($|[^\/*]))*$'
 								# Regular expression to recognize the end of a C-comment block.
 								COMMENT_END_RE='\*\/'
 								# Regular expression to match C++ unsafe headers. We currently don't have any C++ unsafe headers, do we?
 								# v2.0/standard/mavlink.h is not unsafe, but this way the script will leave it alone and not
 								# move it above function declarations that need to be declared before including it.
 								UNSAFE_HEADERS_RE='(v2\.0\/standard\/mavlink\.h)'
 								#UNSAFE_HEADERS_RE='(stm32\.h|arch\/board\/board\.h)'
 								# Find all submodules.
 								test -f $BASEDIR/.gitmodules || fatal "No such file: $BASEDIR/.gitmodules"
 								SUBMODULES=$(grep -A 1 '^\[submodule' $BASEDIR/.gitmodules | grep '^[[:space:]]*path = ' | sed -r -e 's/^[[:space:]]*path = //' | xargs echo)
 								echo "SUBMODULES=\"$SUBMODULES\""
 								SUBMODULES_RE="($(echo $SUBMODULES | sed -e 's/ /|/g'))"
 								# Disable path name expansion (otherwise the find patterns will be expanded against the files in the current working directory).
 								set -f
 								EXCLUDE_ARGS=
 								for excl in $EXCLUDE_FOLDERS; do
 									if [ -z "$EXCLUDE_ARGS" ]; then
 										EXCLUDE_ARGS="-wholename $BASEDIR/$excl/*"
 									else
 										EXCLUDE_ARGS+=" -o -wholename $BASEDIR/$excl/*"
 									fi
 								done
 								for excl in $EXCLUDE_PATTERNS; do
 									EXCLUDE_ARGS+=" -o -wholename */$excl/*"
 								done
 								INCLUDE_H_ARGS=
 								for ext in $H_EXTENSIONS $HXX_EXTENSIONS; do
 									if [ -z "$INCLUDE_H_ARGS" ]; then
 										INCLUDE_H_ARGS="-name *$ext"
 									else
 										INCLUDE_H_ARGS+=" -o -name *$ext"
 									fi
 								done
 								INCLUDE_C_ARGS=
 								for ext in $C_EXTENSIONS $CXX_EXTENSIONS; do
 									if [ -z "$INCLUDE_C_ARGS" ]; then
 										INCLUDE_C_ARGS="-name *$ext"
 									else
 										INCLUDE_C_ARGS+=" -o -name *$ext"
 									fi
 								done
 								# Also exclude all submodules -- because we don't maintain those (are we?).
 								for subm in $SUBMODULES; do
 									if [ -z "$SUBMODULES_ARGS" ]; then
 										SUBMODULES_ARGS="-wholename $BASEDIR/$subm/*"
 									else
 										SUBMODULES_ARGS+=" -o -wholename $BASEDIR/$subm/*"
 									fi
 								done
 								echo -n "Finding all source files with #include's (excluding submodules and build directory)... "
 								find $BASEDIR -mindepth 2 -type f ! \( -wholename $BASEDIR/build_* -o $EXCLUDE_ARGS -o $SUBMODULES_ARGS \) \( $INCLUDE_C_ARGS -o $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_sources
 								cat "$TMPDIR/fix_headers_sources" | xargs grep -l "$INCLUDE_RE" > $TMPDIR/fix_headers_sources_with_includes
 								echo "done"
 								number_of_files=$(sed -n '$=' "$TMPDIR/fix_headers_sources_with_includes")
 								count=0
 								echo -n "Finding all submodule header files (excluding stdc++ headers)... "
 								find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) \( $SUBMODULES_ARGS \) \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_SUBMODULE_HEADERS
 								echo "done"
 								echo -n "Finding all header files (excluding stdc++ headers)... "
 								find $BASEDIR -type f ! \( $EXCLUDE_ARGS \) -wholename $BASEDIR/build_* \( $INCLUDE_H_ARGS \) > $TMPDIR/fix_headers_HEADERS
 								grep -E "$HEADER_RE" $TMPDIR/fix_headers_sources >> $TMPDIR/fix_headers_HEADERS
 								cat $TMPDIR/fix_headers_SUBMODULE_HEADERS >> $TMPDIR/fix_headers_HEADERS
 								echo "done"
 								echo -n "Finding all include paths... "
 								for f in `cat $TMPDIR/fix_headers_sources_with_includes`; do grep -E "$INCLUDE_RE" $f | sed -r -e "s%$INCLUDE_RE%%"';s/[">].*//'; done | sort -u | grep -E -v "(/|^)$EXCLUDE_PATTERNS_RE/" > $TMPDIR/fix_headers_include_paths
 								echo "done"
 								function include_path()
 								{
 									# If the include path starts with a '.', then it is a local header.
 									if [[ $1 =~ ^\. ]]; then return 1; fi
 									# If the include path starts with 'platforms/' then it is a local header;
 									# added this exception here because not everyone has all build_ directories for all targets installed.
 									if [[ $1 =~ platforms/ ]]; then return 1; fi
 									# apps.h is generated from apps.h.in.
 									if [ $1 = "apps.h" ]; then return 1; fi
 									# Treat the following headers from src/platforms/*/include as system header because they replace what is found in nuttx (for posix and qurt).
 									if [ $1 = "arch/board/board.h" -o $1 = "crc32.h" -o $1 = "i2c.h" -o $1 = "queue.h" -o $1 = "poll.h" -o $1 = "sys/ioctl.h" ]; then return 2; fi
 									# Escape the path for reg.exp. matching.
 									PATH_RE=$(echo $1 | sed -e 's/\([+.]\)/\\\1/')
 									issubmodule=0;
 									islocal=0;
 									foo=0
 									for includedir in $(grep "/$PATH_RE\$" $TMPDIR/fix_headers_HEADERS | cut -c $striplen-); do
 										# If the include directory is NuttX header that was copied to the build directory, then it's still a system file.
 										if [[ $includedir/ =~ ^build_.*/NuttX/ ]]; then
 											issubmodule=1
 										# If the include directory is a submodule, then treat it as a system file.
 										elif [[ $includedir/ =~ ^$SUBMODULES_RE/ ]]; then
 											issubmodule=1;
 										else
 											islocal=1
 										fi
 									done
 									if [ $islocal -eq 0 ]; then
 										if [ $issubmodule -eq 0 ]; then
 											# If an include path can't be found then usually it will be a real system header,
 											# however, there are a few (ros related?) files that start with px4... In that
 											# case just leave the quotes alone ("px4muorb.h" and several <px4/...>).
 											if [[ $1 =~ ^px4 ]]; then return 0; fi
 											# While if the include path starts with uORB/topics or topics, and it isn't found,
 											# then likely we just don't have a build directory. These should be local though.
 											# Same for the generated files mixer_multirotor.generated.h and build_git_version.h.
 											if [[ $1 =~ ((/|^)topics/|mixer_multirotor\.generated\.h|build_git_version\.h) ]]; then return 1; fi
 										fi
 										return 2;
 									fi	# Submodule or system header.
 									if [ $issubmodule -eq 0 ]; then return 1; fi	# Local.
 									# Files that are both local and submodule are simply left alone.
 									# These are (at this moment): "battery.h" "common.h" "Matrix.hpp" "mavlink.h" "protocol.h" "pwm.h" "spi.h" "Vector.hpp".
 									return 0;
 								}
 								# Run the include_path function for each of the files in $TMPDIR/fix_headers_include_paths
 								echo -n "Determining which headers need to be included with double quotes... "
 								echo -n > $TMPDIR/fix_headers_quotes
 								for arg in $(cat "$TMPDIR/fix_headers_include_paths"); do
 									include_path $arg
 									localsystem=$?
 									if [ $localsystem -eq 1 ]; then
 										echo "$arg \"$arg\"" >> $TMPDIR/fix_headers_quotes
 									elif [ $localsystem -eq 2 ]; then
 										echo "$arg <$arg>" >> $TMPDIR/fix_headers_quotes
 									fi
 								done
 								echo "done"
 								# Truncate the error log.
 								echo -n > $TMPDIR/fix_headers_ERROR.log
 								function print_error
 								{
 									echo
 									echo -n "  ";
 									echo "*** $1" | tee -a "$TMPDIR/fix_headers_ERROR.log"
 									return 1
 								}
 								if [ $debug -ne 0 ]; then
 									# Debug Line.
 									DL='if (cdbl != NR) { printf "\n%u. \"%s\"", NR, $0; cdbl = NR }'
 									# Debug Begin.
 									DB='if (cdbl != NR) { printf "\n%u. \"%s\" ---> ", NR, $0; cdbl = NR } else printf "; "; printf'
 									# Debug End.
 									DE=''
 								else
 									DL='#'
 									DB='#'
 									DE=''
 								fi
 								# Error Prefix.
 								EP='###'
 								# The main function that is called for each source file.
 								function fixup_header
 								{
 									count=$((count + 1))
 									echo -n "[$((100 * count / number_of_files))%] Fixing headers of $1... "
 									# Is this a header?
 									echo "$1" | sed -e 's/\.in$/;in/;s/.*\././;s/;in$/.in/' | grep -v -E "$HEADER_RE\$" >/dev/null; is_header=$?
 									if [ $debug -ne 0 ]; then echo "is_header = \"$is_header\""; fi
 									# Is this C++ source?
 									echo "$1" | sed -e 's/.*\././' | grep -v -E $CXXSRC_RE >/dev/null; is_cxxsrc=$?
 									if [ $debug -ne 0 ]; then echo "is_cxxsrc = \"$is_cxxsrc\""; fi
 									dont_make_cxxsrc=1
 									if [ $is_cxxsrc -eq 0 -a $is_header -ne 0 ]; then
 										grep -m 1 -q -E "^[[:space:]]*(#[[:space:]]*include[[:space:]]*<$STDCXX_HEADERS_RE>|(template|namespace|class)(\$|[^[:alnum:]_]))" "$1"
 										dont_make_cxxsrc=$?
 									fi
 									if [ $dont_make_cxxsrc -eq 0 ]; then
 										is_cxxsrc=1
 									fi
 									# Current directory.
 									curdir=$(dirname "$BASEDIR/$1")
 									# Parse the file.
 									#
 									# Returns an array of line[]'s. The first line is either the first #include, when it is outside
 									# any #if*...#endif constructs not counting the header guard if the file is a header. For example:
 									#
 									#	  // Anything here except #include lines.
 									#	  #include <first_include.h>	// <-- first line.
 									#
 									# Or, the first #if* that contains the first #include line. For example:
 									#	  // Anything here except #include lines.
 									#	  #ifndef FOO_H // header guard.
 									#	  #define FOO_H
 									#	  int global = 1; // Anything unknown.
 									#	  #ifdef SOMETHING		// <-- first line.
 									#	  #if maybe_more
 									#	    // anything except #include lines.
 									#	  #else
 									#	    // anything except #include lines.
 									#	    #include <first_include.h>
 									#
 									# Subsequent line[]'s mark the beginning of a new block, where we have the following blocks:
 									# type[]		Description
 									type_include=0		# An #include, outside #if*...#endif constructs except a possible header guard.
 									type_ifincludeendif=1	# #if*...#endif constructs with #include's.
 									type_ifendif=2		# #if*...#endif constructs without #include's.
 									type_decls=3		# __BEGIN_DECLS ... __END_DECLS block.
 									type_macro=4		# Contiguous #define block.
 									type_comment=5		#(Multi-line) comments.
 									type_emptyline=6	# Empty lines.
 									type_pragmaonce=7	# #pragma once (must be outside any #if*...#endif constructs).
 									type_end=8		# The first line of the remainder of the file.
 									#
 									# However, any block NOT containing one or more #include's (all types > 1) will
 									# cause subsequent blocks that do not contain #include's to be ignored,
 									# with as result that those blocks will be treated as contiguous code blocks.
 									# A comment that is followed by a type that is not to be ignored as such
 									# is given the type that follows (which itself is then ignored).
 									# Empty lines are ignored unless they appear directly in front of a type
 									# that is not to be ignored according to the above rules, where 'previous
 									# types' then are the types before the empty line.
 									#
 									# For example:
 									#
 									#   >	#include <first_header.h>	# type_include
 									#   >	#include <second_header.h>	# type_include
 									#   >					# type_emptyline
 									#   >	#include <third_header.h>	# type_include
 									#   ^	#ifdef FOO			# type_ifendif
 									#   |	#define BAR 1
 									#   |	#endif				# (detected here)
 									#   |								<-- ignored because:
 									#   v	#define BAZ(x) x // Do baz				<-- ignored (prev and this type in {type_ifendif, type_macro})
 									#   >					# type_emptyline
 									#   ^	// This include is important:	# type_comment, but then replaced by type_ifincludeendif
 									#   |								<-- ignored because:
 									#   |	// more here.						<-- ignored same type
 									#   |	#ifdef BAR						<-- "ignored": type_ifincludeendif, but put 3 lines higher.
 									#   |	#include <bar.h>
 									#   v	#endif				# (detected here)
 									#   >					# type_emptyline
 									#   >	#include <another.h>		# type_include
 									#
 									# This script stops parsing at the first not recognized line outside #if*...#endif constructs
 									# unless no first line was found yet. It does not attempt overly hard to decode rare constructs,
 									# most notably anything with a leading C comment is not recognized and will thus lead to an abort.
 									# For example the following lines are not recognized:
 									#
 									# /* Some comment */ #include <header.h>
 									# /* Some comment */ // Another comment.
 									#
 									# Lines that have a trailing comment are recognized (by ignoring the comment).
 									result=$(awk "\
 										function add(l, t) {
 											# First add always succeeds.
 											if (ptr > 0) {
 												# An empty line is always added, at first, unless the immediate preceding type is an empty line.
 												if (t == $type_emptyline && type[ptr - 1] == $type_emptyline) {
 													return;				$DB \"ignored because line %d is also empty.\", line[ptr - 1] $DE
 												}
 												# A comment is always, added at first, unless the preceding non-empty line type is a comment.
 												# Same for #include's.
 												if (t == $type_comment && last_none_type == t) {
 																	$DB \"ignoring because same type as last_none_type (%s)\", type_name[t] $DE
 													# Gobble up preceding empty lines.
 													if (type[ptr - 1] == $type_emptyline) {
 														--ptr;			$DB \"ptr = %d; [43mRemoved type_emptyline @ line %d[0m\", ptr, line[ptr] $DE
 													}
 													return;
 												}
 												# {ifendif, macro}'s are collapsed too.
 												if ((t == $type_ifendif || t == $type_macro) && (last_nonws_type == $type_ifendif || last_nonws_type == $type_macro)) {
 													# Gobble up preceding comments and empty lines.
 													while (ptr > 0 && (type[ptr - 1] == $type_emptyline || type[ptr - 1] == $type_comment)) {
 														--ptr;			$DB \"ptr = %d; [43mRemoved %s @ line %d[0m\", ptr, type_name[type[ptr]], line[ptr] $DE
 													}
 													# ptr > 0 here because the first add is never for an empty line or comment.
 													last_none_type = type[ptr - 1];	$DB \"last_none_type = %s\", type_name[last_none_type] $DE
 													return;
 												}
 												# type_include and type_pragmaonce and higher are always added.
 											}
 											if (t == $type_end) {
 												# Remove drag.
 												while(ptr > 0 && line[ptr - 1] >= l) --ptr;
 											}
 											# If this type is not an empty line and it was preceded by a comment, then melt it together with that comment.
 											else if (t != $type_emptyline && last_none_type == $type_comment) {
 												# In this case t cannot be type_comment.
 												# Gobble up preceding empty lines.
 												if (type[ptr - 1] == $type_emptyline) {
 													--ptr;				$DB \"ptr = %d; [43mRemoved type_emptyline @ line %d[0m\", ptr, line[ptr] $DE
 												}
 												# And replace the comment type.
 												--ptr;					$DB \"ptr = %d; [45mreplacing the %s @ line %d[0m\", ptr, type_name[type[ptr]], line[ptr] $DE
 												l = line[ptr];
 											}
 											line[ptr] = l;					$DB \"ptr = %d; [42m%s @ line %d[0m\", ptr, type_name[t], l $DE;
 											type[ptr++] = t;
 											if (t != $type_emptyline) {
 												last_none_type = t;			$DB \"last_none_type = %s\", type_name[last_none_type] $DE
 												if (t != $type_comment)
 													last_nonws_type = t;
 											}
 										}
 										BEGIN {
 											debug = $debug;		# 0: no debug output; non-zero: print debug output.
 											header = $is_header;	# 0: do not look for a header guard; 1: treat first #ifndef as header guard.
 											in_if = 0;		# The number of nested levels inside #if, #ifdef or #ifndef ... #endif constructs.
 											in_if_base = 0;		# 0: no header guard was found (or #pragma once); 1: an #ifndef header guard was found.
 											in_decl = 0;		# 0: not inside a __BEGIN_DECLS ... __END_DECLS block; 1: inside such a block.
 											found_guard = 0;	# 0: no header guard was found; 1: a header guard was found (including #pragma once).
 											base_if = 0;		# The current base-level #if that we are scanning.
 											drag = 0;		# The number of lines since the last certainly relevant line (a base-level #include or a base-level #endif containing one of more #includes).
 											skipped = 0;		# 0: No #include was encountered in the current (base-level) #if block; 1: one or more #include's encountered in the current base-level #if block.
 											in_comment = 0;		# 0: not in a multi-line C comment; 1: in a multi-line C comment.
 											cdbl = 0;		# Current debug line.
 											error = 0;		# 0: no error occured; 1: an error occured.
 											ptr = 0;		# Current pointer into line[] and type[].
 											found_comment_end = 0;	# The last line (possibly the current line) that is/was a multi-line C comment termination.
 											last_none_type = -1;	# The last non-emptyline type that was added.
 											last_nonws_type = -1;	# The last non-whitespace type that was added.
 											# For debug purposes:
 											type_name[$type_ifendif] = \"type_ifendif\";
 											type_name[$type_ifincludeendif] = \"type_ifincludeendif\";
 											type_name[$type_decls] = \"type_decls\";
 											type_name[$type_comment] = \"type_comment\";
 											type_name[$type_emptyline] = \"type_emptyline\";
 											type_name[$type_include] = \"type_include\";
 											type_name[$type_macro] = \"type_macro\";
 											type_name[$type_pragmaonce] = \"type_pragmaonce\";
 											type_name[$type_end] = \"type_end\";
 										}
 										END {
 											last_line = NR - drag;
 											add(last_line + 1, $type_end);			$DB \"\n\" $DE;
 											# Print output.
 											if (error || ptr == 0 || last_line < line[0]) {
 												print \"error=1\";
 												exit
 											}
 											printf \"lines=\\\"\";
 											for (i = 0; i < ptr - 1; ++i)
 												printf \"%d \", line[i];
 											printf \"%d\\\"; \", line[ptr - 1];
 											printf \"types=\\\"\";
 											for (i = 0; i < ptr - 1; ++i)
 												printf \"%d \", type[i];
 											printf \"%d\\\"; \", type[ptr - 1];
 											print \"error=0; first_line=\" line[0] \"; last_line=\" last_line
 										}
 									#======================================================================================================
 									# Handle multi-line C comments.
 										/$COMMENT_END_RE/ {
 											if (in_comment) {
 												in_comment = 0;				$DB \"comment end\" $DE;
 												found_comment_end = NR;
 												sub(/^([^*]|\*+[^*\/])*\*+\//, \"\")	# Remove the tail of the comment.
 											}
 											# FALL-THROUGH
 										}
 										{
 											if (in_comment) {
 												++drag;					$DB \"in comment; drag = %d\", drag $DE;
 												next
 											}
 											found_comment_begin = 0;
 											# FALL-THROUGH
 										}
 										/$COMMENT_BEGIN_RE/ {
 											in_comment = 1;					$DB \"comment begin\" $DE;
 											found_comment_begin = 1;
 											sub(/\/\*([^*]|\*+($|[^*\/]))*$/, \"\")		# Remove the head of the comment so that we'll recognize this as an empty line if it is.
 											# FALL-THROUGH
 										}
 									#======================================================================================================
 									# Detect and handle header guard.
 										/$PRAGMA_ONCE_RE/ {
 											++drag;						$DB \"drag = %d\", drag $DE;
 											if (header && found_guard == 0 && in_if == 0) {
 												found_guard = NR;			$DB \"found_guard = %d\", found_guard $DE;
 												if (ptr > 0)
 													add(NR, $type_pragmaonce)
 												next
 											}
 											print \"\\n$EP $1:\" NR \": unexpected #pragma once\";
 											error = 1;
 											exit
 										}
 										/^#ifndef / {
 											if (ptr == 0 && header && found_guard == 0 && in_if == 0) {
 												found_guard = NR;			$DB \"found_guard = %d\", found_guard $DE;
 												in_if = 1;				$DB \"in_if = %d\", in_if $DE;
 												in_if_base = 1;				$DB \"in_if_base = %d\", in_if_base $DE;
 												next
 											}
 											# FALL-THROUGH
 										}
 									#======================================================================================================
 									# Detect and handle __BEGIN_DECLS ... __END_DECLS blocks.
 										/^[[:space:]]*__BEGIN_DECLS/ {
 											++drag;						$DB \"drag = %d\", drag $DE;
 											if (in_decl == 0) {
 												in_decl = 1;				$DB \"in_decl = 1\" $DE
 												add(NR, $type_decls);
 												next
 											}
 											print \"\\n$EP $1:\" NR \": Nested __BEGIN_DECLS!\";
 											error = 1;
 											exit
 										}
 										/^[[:space:]]*__END_DECLS/ {
 											++drag;						$DB \"drag = %d\", drag $DE;
 											if (in_decl == 1) {
 												in_decl = 0;				$DB \"in_decl = 0\" $DE
 												if (skipped) {
 													drag = 0;
 												} else if (ptr == 1) {
 													ptr = 0;			$DB \"erase DECLS block\" $DE
 													last_none_type = -1;
 												}
 												next
 											}
 											print \"\\n$EP $1:\" NR \": __END_DECLS without matching __BEGIN_DECLS!\";
 											error = 1;
 											exit
 										}
 									#======================================================================================================
 									# Detect and handle #if ... #endif blocks.
 										/$IF_RE/ {
 											++drag;						$DB \"drag = %d\", drag $DE;
 											if (in_if == in_if_base && in_decl == 0) {
 												skipped = 0;				$DB \"skipped = 0\" $DE;
 												base_if = NR;				$DB \"base_if = %d\", NR $DE;
 											}
 											++in_if;					$DB \"in_if = %d\", in_if $DE;
 											next
 										}
 										/$ENDIF_RE/ {
 											--in_if;					$DB \"in_if = %d\", in_if $DE;
 											if (in_if < 0) {
 												print \"\\n$EP $1:\" NR \": #endif without matching #if!\";
 												error = 1;
 												exit
 											}
 											++drag;
 											if (in_if == in_if_base && in_decl == 0) {
 												if (skipped) {
 													drag = 0;
 													add(base_if, $type_ifincludeendif);
 												} else if (ptr > 0)
 													add(base_if, $type_ifendif);
 											}						$DB \"drag = %d\", drag $DE;
 											# Left header guard?
 											if (in_if < in_if_base) {			$DB \"left header guard:\" $DE;
 												# assert(in_if == 0 && in_if_base == 1 && header && found_guard)
 												exit
 											}
 											next
 										}
 									#======================================================================================================
 									# Handle #include lines.
 										/$INCLUDE_RE/ {
 											if (!/\"(\.\/)?mavlink_msg/) {
 												# If we're inside a __BEGIN_DECLS ... __END_DECLS block then only certain headers may be included.
 												hname = gensub(/^[[:space:]]*#[[:space:]]*include[[:space:]]*[<\"]([^>\"]*)[>\"].*/, \"\\\1\", \"1\");
 												cpp_safe = !(hname ~ /$UNSAFE_HEADERS_RE/);
 																		$DB \"hname = \\\"\" hname \"\\\"; cpp_safe = \" cpp_safe \"; in_decl = \" in_decl \"; is_cxxsrc = $is_cxxsrc\" $DE
 												if (in_decl && cpp_safe) {
 													print \"\\n$EP $1:\" NR \": including \" hname \" inside a __BEGIN_DECLS ... __END_DECLS block.\";
 													error = 1;
 													exit
 												} else if (!in_decl && !cpp_safe && $is_cxxsrc) {
 													print \"\\n$EP $1:\" NR \": including \" hname \" outside a __BEGIN_DECLS ... __END_DECLS block!\";
 													error = 1;
 													exit
 												}
 												if (in_if > in_if_base || in_decl) {
 													skipped = 1;				$DB \"skipped = 1\" $DE;
 												} else {
 													drag = 0;				$DB \"drag = 0\" $DE;
 													add(NR, $type_include);			$DB \"first_line = %d\", NR $DE;
 												}
 												next
 											}
 										}
 									#======================================================================================================
 									# Ignore #define's, empty lines and lines with just comments.
 										/$DEFINE_RE/ {
 											++drag;						$DB \"drag = %d\", drag $DE;
 											if (ptr > 0 && in_if == in_if_base && in_decl == 0) {
 												add(NR, $type_macro);
 											}
 											next
 										}
 										/$EMPTY_LINE_RE/ {
 											++drag;						$DB \"drag = %d\", drag $DE;
 											if (ptr > 0 && in_if == in_if_base && in_decl == 0) {
 												if (found_comment_begin)
 													add(NR, $type_comment);
 												else if (found_comment_end != NR)
 													add(NR, $type_emptyline);
 											}
 											next
 										}
 										/$COMMENT_LINE_RE/ {
 											++drag;						$DB \"drag = %d\", drag $DE;
 											if (ptr > 0 && in_if == in_if_base && in_decl == 0 && type[ptr - 1] != $type_comment) {
 												add(NR, $type_comment);
 											}
 											next
 										}
 									#======================================================================================================
 									# Handle everything else (unrecognized lines).
 										{
 											++drag;						$DB \"unknown; drag = %d\", drag $DE;
 											if (ptr > 0 && in_if <= in_if_base && in_decl == 0) {
 												exit
 											}
 										}
 										" "$BASEDIR/$1")
 									# Decode the result.
 									vars=$(echo "$result" | tail -n 1)
 									error_msg=$(echo "$result" | grep "^$EP " | sed -e 's/^....//')
 									if [ $debug -ne 0 ]; then
 										len=$(echo "$result" | wc --lines)
 										echo "$result" | head -n $((len - 1)) | grep -v "^$EP "	# Debug messages
 										echo "vars: $vars"
 									fi
 									# Evaluate the last line printed in END.
 									error=1; eval $vars
 									test -z "$error_msg" || print_error "$error_msg" || return
 									test $error -eq 0 -a $first_line -gt 0 || print_error "FAILED to find an #include in $1?!" || return
 									test $last_line -ge $first_line || print_error "FAILED to find a sensible last line in $1?!" || return
 									# Calculate the number of lines starting from the current line.
 									# Use sed to count lines, because wc --lines doesn't report the last line when that doesn't end on a new-line, contrary to the fact that tail treats such lines as lines.
 									total_lines=$(sed -n '$=' "$BASEDIR/$1")
 									if [ $debug -ne 0 ]; then echo "total_lines = \"$total_lines\""; fi
 									# Edit the first_line...last_line block.
 									# Header files are ordered as follows (lowest value first):
 									cat_winsock=0;		# Winsock2.h
 									cat_posix_sys=1;	# posix_sys.h or one of the px4_ headers that include it.
 									cat_px4=2;		# Other px4_*.h
 									cat_local=3;		# "*.h"
 									cat_cxx=4;		# <std c++ header>, ie <iostream>
 									cat_c=5;		# <c std c++ header>, ie <cstdio>
 									cat_system=6;		# <*.h>
 									head -n $last_line "$BASEDIR/$1" | tail -n $((last_line - first_line + 1))  | awk "
 										function sort_by_type_line_header_type_hname(blk2, v2, blk1, v1) {
 											# Return true if blk1 comes before blk2.
 											# Move type_include before the rest. Keep the same line order for the rest.
 											return (type[blk2] != $type_include && (type[blk1] == $type_include || line[blk1] < line[blk2])) ||
 											       (type[blk2] == $type_include && type[blk1] == $type_include &&
 												   # If both are include's then put include with a lower header_type first; sort alphabetically for the same header type.
 												   (header_type[blk1] < header_type[blk2] || (header_type[blk1] == header_type[blk2] && hname[blk1] < hname[blk2])));
 										}
 										BEGIN {
 											first_line = $first_line;
 											split(\"$lines\", line);
 											split(\"$types\", type);
 											i = 0;
 											do {
 												line[++i] -= first_line - 1;
 											} while(type[i] != $type_end)
 											for(b = 0; b < i; ++b) header_type[b] = 100;
 											blk = 1;
 											n = 0;
 											is_cxxsrc = $is_cxxsrc;
 											# px4_posix.h includes px4_defines.h includes px4_log.h includes posix_sys.h which must be the first header included.
 											sys_val[\"px4_posix.h\"] = 1;
 											sys_val[\"px4_defines.h\"] = 2;
 											sys_val[\"px4_log.h\"] = 3;
 											sys_val[\"posix_sys.h\"] = 4;
 											saw_sys_val = 5;		# Didn't see any of the above; otherwise the lowest value of the header seen.
 											for(b = 0; b < i; ++b) saw_sys[b] = saw_sys_val;
 										}
 										END {
 											l = asorti(txt, k, \"sort_by_type_line_header_type_hname\");
 											for (b = 1; b <= l; ++b) {
 												if (type[k[b]] == $type_include && header_type[k[b]] == $cat_posix_sys && saw_sys[k[b]] > saw_sys_val) continue;
 												len = length(txt[k[b]]);
 												for (n = 0; n < len; ++n) print txt[k[b]][n];
 												if (b < l && type[k[b]] == $type_include && type[k[b+1]] != $type_emptyline &&
 												    (type[k[b+1]] != $type_include || (header_type[k[b]] != header_type[k[b+1]] && header_type[k[b+1]] != $cat_px4))) {
 													printf \"\n\";
 												}
 											}
 										}
 										{
 											if (NR == line[blk + 1]) {
 												++blk;
 												n = 0;
 											}
 										}
 										/$INCLUDE_RE/ {
 											# Don't use double quotes around standard header names.
 											\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)\\\"$STDC_HEADERS_RE\\.h\\\"/, \"\\\1<\\\2.h>\", \"1\");
 											if (is_cxxsrc) {
 												\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)\\\"$STDCXX_HEADERS_RE\\\"/, \"\\\1<\\\2>\", \"1\");
 												# Change deprecated C header names to standard C++ header names in C++ source files.
 												\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*<)$STDC_HEADERS_RE\\.h>/, \"\\\1c\\\2>\", \"1\");
 											}
 											# Don't include \"./foo.h\", that is implied, so just include \"foo.h\".
 											\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*\\\")\.\//, \"\\\1\", \"1\");
 											# Extract the header filename.
 											hname[blk] = gensub(/^[[:space:]]*#[[:space:]]*include[[:space:]]*[<\"]([^>\"]*)[>\"].*/, \"\\\1\", \"1\");
 											# If the header exists in the directory of the including file, then it is a local header.
 											command = sprintf(\"test -e %s/%s\", \"$curdir\", hname[blk]);
 											if (system(command) == 0) {
 												\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)[\"<]([^\">]*)[\">]/, \"\\\1\\\"\\\2\\\"\", \"1\");
 											} else {
 												# Do we know if this is a local file, or a submodule / system header?
 												# The grep reg.exp needs \\ (for backslah) and \1 for back reference, thus: \\\1.
 												# However we print the grep command using sprintf, so each backslash needs to be escaped once more: \\\\\\1.
 												# Finally, this is a bash string and we need to escape each backslash once more to pass it corrently to awk, hence we need twelve backslahes:
 												command = sprintf(\"grep '^%s ' '%s' 2>/dev/null\", gensub(/([.+])/, \"\\\\\\\\\\\\1\", \"g\", hname[blk]), \"$TMPDIR/fix_headers_quotes\");
 												ret = command | getline result;
 												if (ret != 0) {
 													result = substr(result, index(result, \" \") + 1);
 													\$0 = gensub(/^([[:space:]]*#[[:space:]]*include[[:space:]]*)[\"<][^\">]*[\">]/, \"\\\1\" result, \"1\");
 												}
 											}
 											# Categorise the header.
 											if (hname[blk] == \"Winsock2.h\") {
 												if (header_type[blk] > $cat_winsock)
 													header_type[blk] = $cat_winsock;
 											}
 											else if (hname[blk] in sys_val) {
 												if (header_type[blk] > $cat_posix_sys)
 													header_type[blk] = $cat_posix_sys;
 												# posix_sys.h is sometimes included within #ifdef __PX4_POSIX ... #endif. The other headers should not be conditional.
 												if ((hname[blk] == \"posix_sys.h\" || type[blk] == $type_include)) {
 													type[blk] = $type_include;		# Treat #ifdef __PX4_POSIX #include \"posix_sys.h\" #endif as an include for sorting purposes.
 													saw_sys[blk] = sys_val[hname[blk]];	# There will be only one include (header name) for this block.
 													if (sys_val[hname[blk]] < saw_sys_val)
 														saw_sys_val = sys_val[hname[blk]];
 												}
 												# Use double quotes for these headers.
 												\$0 = gensub(/<([[:alnum:]_\/.]*)>/, \"\\\"\\\1\\\"\", \"1\");
 											}
 											else if (hname[blk] ~ /^(platforms\/px4_|px4_)/) {
 												if (header_type[blk] > $cat_px4)
 													header_type[blk] = $cat_px4;
 												# Use double quotes for these headers.
 												\$0 = gensub(/<([[:alnum:]_\/.]*)>/, \"\\\"\\\1\\\"\", \"1\");
 											}
 											else if (\$0 ~ /^[[:space:]]*#[[:space:]]*include[[:space:]]*\"/) {
 												if (header_type[blk] > $cat_local)
 													header_type[blk] = $cat_local;
 											}
 											else if (hname[blk] ~ /^$STDCXX_HEADERS_RE\$/) {
 												if (header_type[blk] > $cat_cxx)
 													header_type[blk] = $cat_cxx;
 											}
 											else if (hname[blk] ~ /^c$STDC_HEADERS_RE\$/) {
 												if (header_type[blk] > $cat_c)
 													header_type[blk] = $cat_c;
 											}
 											else if (hname[blk] ~ /^$STDC_HEADERS_RE\.h\$/) {
 												if (header_type[blk] > $cat_system)
 													header_type[blk] = $cat_system;
 											}
 										}
 										{
 											# Remove empty lines before #include's.
 											if (type[blk] == $type_include) {
 												for (i = 1; blk > i && type[blk - i] == $type_emptyline; ++i)
 													delete txt[blk - i]
 											}
 											txt[blk][n++] = \$0;
 										}
 										" > $TMPDIR/fix_headers_current_block
 									# Construct a new file in TMPDIR.
 									head -n $((first_line - 1)) "$BASEDIR/$1" > $TMPDIR/fix_headers_current_file
 									# Append the editted block.
 									cat $TMPDIR/fix_headers_current_block >> $TMPDIR/fix_headers_current_file
 									# Append the rest.
 									tail -n $((total_lines - last_line)) "$BASEDIR/$1" >> $TMPDIR/fix_headers_current_file
 									# Compare original with result.
 									if cmp --quiet "$BASEDIR/$1" $TMPDIR/fix_headers_current_file; then
 										echo "No change"
 									else
 										echo "Fixed lines $first_line-$last_line"
 										mv $TMPDIR/fix_headers_current_file "$BASEDIR/$1" || fatal "Failed to move $TMPDIR/fix_headers_current_file to $BASEDIR/$1 !?!"
 									fi
 								}
-												Stop people from using broken awk.

											
										
										
											2016-11-05 22:17:30 -03:00
+								if [ $non_option_arguments -ne 0 ]; then
-												Add Tools/fix_headers.sh

Running this script will parse the top of all source files
that are not submodules, examples or test cases, to find
all #include's and then do basically two things:

1) Reorder and group the headers so that px4_* headers are
   included first, then local headers (headers of the project
   that aren't submodules) then C++ headers if any, then C
   headers if any, then system headers (which includes submodules)
   and finally any #includes that are inside #if*...#endif
   constructs.
2) Fix the use of "" or <> in a consistent manner.

Afterwards few fixes might be necessary for compile errors that
pop up. Most of those are already fixed in my previous commits.
However, I was not able to test a compilation for ros
(with __PX4_ROS defined) -- so some more fixes might be necessary
because of the header reordering.

The script comes with a progress counter and an error summary
(if any) at the end (so no scrolling back is necessary).
It is highly recommended to only run this script in a clean
project with no outstanding changes that need to be committed.
In fact, the script enforces this (unless you pass --force).
Reverting a run of the script is then easy with 'git checkout .'.

It is also possible to run the script on a single file
by passing that on the command line. In that case it
might make sense to pass --debug too, though that was really
meant for just me, while developing the script. This will write
debug output into the file that is passed, so you don't
want to commit that! ;)

											
										
										
											2016-09-28 13:34:35 -03:00
+									fixup_header $1
 									exit
 								fi
 								# Run the fixup function for each of the files in $TMPDIR/fix_headers_sources_with_includes.
 								# Strip BASEDIR because we don't know how long that is and it might too much for bash.
 								for arg in $(cat "$TMPDIR/fix_headers_sources_with_includes" | cut -c $striplen-); do
 										fixup_header $arg
 								done
 								# Clean up.
 								if [ $debug -eq 0 -o $# -eq 0 ]; then
 									rm "$TMPDIR/fix_headers_sources" "$TMPDIR/fix_headers_sources_with_includes" "$TMPDIR/fix_headers_SUBMODULE_HEADERS" "$TMPDIR/fix_headers_HEADERS" \
 									   "$TMPDIR/fix_headers_include_paths" "$TMPDIR/fix_headers_quotes" "$TMPDIR/fix_headers_current_block"
 								fi
 								# Print all error messages again at the end.
 								if [ -s "$TMPDIR/fix_headers_ERROR.log" ]; then
 									echo "$0 finished with errors:"
 									cat "$TMPDIR/fix_headers_ERROR.log"
 								else
 									echo "SUCCESS"
 									rm "$TMPDIR/fix_headers_ERROR.log"
 								fi