1

#!/bin/sh

     2

     3

#------------------------------------------------------------------------------

     4

#

     5

#  Init script for EtherCAT

     6

#

     7

#  $Id$

     8

#

     9

#  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

    10

#

    11

#  This file is part of the IgH EtherCAT Master.

    12

#

    13

#  The IgH EtherCAT Master is free software; you can redistribute it

    14

#  and/or modify it under the terms of the GNU General Public License

    15

#  as published by the Free Software Foundation; either version 2 of the

    16

#  License, or (at your option) any later version.

    17

#

    18

#  The IgH EtherCAT Master is distributed in the hope that it will be

    19

#  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    20

#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    21

#  GNU General Public License for more details.

    22

#

    23

#  You should have received a copy of the GNU General Public License

    24

#  along with the IgH EtherCAT Master; if not, write to the Free Software

    25

#  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    26

#

    27

#  The right to use EtherCAT Technology is granted and comes free of

    28

#  charge under condition of compatibility of product made by

    29

#  Licensee. People intending to distribute/sell products based on the

    30

#  code, have to sign an agreement to guarantee that products using

    31

#  software based on IgH EtherCAT master stay compatible with the actual

    32

#  EtherCAT specification (which are released themselves as an open

    33

#  standard) as the (only) precondition to have the right to use EtherCAT

    34

#  Technology, IP and trade marks.

    35

#

    36

#------------------------------------------------------------------------------

    37

    38

### BEGIN INIT INFO

    39

# Provides:          ethercat

    40

# Required-Start:    $local_fs $syslog $network

    41

# Should-Start:      $time ntp

    42

# Required-Stop:     $local_fs $syslog $network

    43

# Should-Stop:       $time ntp

    44

# Default-Start:     3 5

    45

# Default-Stop:      0 1 2 6

    46

# Short-Description: EtherCAT Master

    47

# Description:

    48

### END INIT INFO

    49

    50

#------------------------------------------------------------------------------

    51

    52

MODPROBE=/sbin/modprobe

    53

RMMOD=/sbin/rmmod

    54

MODINFO=/sbin/modinfo

    55

    56

#------------------------------------------------------------------------------

    57

    58

ETHERCAT_CONFIG=/etc/sysconfig/ethercat

    59

    60

if [ ! -r ${ETHERCAT_CONFIG} ]; then

    61

    echo ${ETHERCAT_CONFIG} not existing;

    62

    if [ "${1}" = "stop" ]; then

    63

	exit 0

    64

    else

    65

	exit 6

    66

    fi

    67

fi

    68

    69

. ${ETHERCAT_CONFIG}

    70

    71

#------------------------------------------------------------------------------

    72

    73

function exit_success()

    74

{

    75

    if [ -r /etc/rc.status ]; then

    76

        rc_reset

    77

        rc_status -v

    78

        rc_exit

    79

    else

    80

        echo " done"

    81

        exit 0

    82

    fi

    83

}

    84

    85

#------------------------------------------------------------------------------

    86

    87

function exit_running()

    88

{

    89

    if [ -r /etc/rc.status ]; then

    90

        rc_reset

    91

        rc_status -v

    92

        rc_exit

    93

    else

    94

        echo " running"

    95

        exit 0

    96

    fi

    97

}

    98

    99

#------------------------------------------------------------------------------

   100

   101

function exit_fail()

   102

{

   103

    if [ -r /etc/rc.status ]; then

   104

        rc_failed

   105

        rc_status -v

   106

        rc_exit

   107

    else

   108

        echo " failed"

   109

        exit 1

   110

    fi

   111

}

   112

   113

#------------------------------------------------------------------------------

   114

   115

function exit_dead()

   116

{

   117

    if [ -r /etc/rc.status ]; then

   118

        rc_failed

   119

        rc_status -v

   120

        rc_exit

   121

    else

   122

        echo " dead"

   123

        exit 1

   124

    fi

   125

}

   126

   127

#------------------------------------------------------------------------------

   128

   129

function parse_mac_address()

   130

{

   131

    if [ -z "${1}" ]; then

   132

        MAC=""

   133

    elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then

   134

        MAC=${1}

   135

    else

   136

        echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG}

   137

        exit_fail

   138

    fi 

   139

}

   140

   141

#------------------------------------------------------------------------------

   142

   143

if [ -r /etc/rc.status ]; then

   144

    . /etc/rc.status

   145

    rc_reset

   146

fi

   147

   148

case "${1}" in

   149

   150

start)

   151

    echo -n "Starting EtherCAT master "

   152

   153

    # construct DEVICES and BACKUPS from configuration variables

   154

    DEVICES=""

   155

    BACKUPS=""

   156

    MASTER_INDEX=0

   157

    while true; do

   158

        DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}")

   159

        BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}")

   160

        if [ -z "${DEVICE}" ]; then break; fi

   161

   162

        if [ ${MASTER_INDEX} -gt 0 ]; then

   163

            DEVICES=${DEVICES},

   164

            BACKUPS=${BACKUPS},

   165

        fi

   166

   167

        parse_mac_address ${DEVICE}

   168

        DEVICES=${DEVICES}${MAC}

   169

   170

        parse_mac_address ${BACKUP}

   171

        BACKUPS=${BACKUPS}${MAC}

   172

   173

        MASTER_INDEX=$(expr ${MASTER_INDEX} + 1)

   174

    done

   175

   176

    # load master module

   177

    if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \

   178

            main_devices=${DEVICES} backup_devices=${BACKUPS}; then

   179

        exit_fail

   180

    fi

   181

   182

    # check for modules to replace

   183

    for MODULE in ${DEVICE_MODULES}; do

   184

        ECMODULE=ec_${MODULE}

   185

        if ! ${MODINFO} ${ECMODULE} > /dev/null; then

   186

            continue # ec_* module not found

   187

        fi

   188

        if lsmod | grep "^${MODULE} " > /dev/null; then

   189

            if ! ${RMMOD} ${MODULE}; then

   190

                exit_fail

   191

            fi

   192

        fi

   193

        if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then

   194

            ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore module

   195

            exit_fail

   196

        fi

   197

    done

   198

   199

    exit_success

   200

    ;;

   201

   202

stop)

   203

    echo -n "Shutting down EtherCAT master "

   204

   205

    # unload EtherCAT device modules

   206

    for MODULE in ${DEVICE_MODULES} master; do

   207

        ECMODULE=ec_${MODULE}

   208

        if ! lsmod | grep -q "^${ECMODULE} "; then

   209

            continue # ec_* module not loaded

   210

        fi

   211

        if ! ${RMMOD} ${ECMODULE}; then

   212

            exit_fail

   213

        fi;

   214

    done

   215

   216

    sleep 1

   217

   218

    # reload previous modules

   219

    for MODULE in ${DEVICE_MODULES}; do

   220

        if ! ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}; then

   221

            echo Warning: Failed to restore ${MODULE}.

   222

        fi

   223

    done

   224

   225

    exit_success

   226

    ;;

   227

   228

restart)

   229

    $0 stop || exit 1

   230

    sleep 1

   231

    $0 start

   232

    ;;

   233

   234

status)

   235

    echo -n "Checking for EtherCAT "

   236

   237

    lsmod | grep -q "^ec_master "

   238

    MASTERS_RUNNING=$?

   239

   240

    ! grep -q "(WAITING)" /sys/ethercat/master*/info

   241

    MASTERS_IDLE=$?

   242

   243

    # master module loaded and masters not waiting for devices?

   244

    if [ ${MASTERS_RUNNING} -eq 0 -a ${MASTERS_IDLE} -eq 0 ]; then

   245

        exit_running

   246

    else

   247

        exit_dead

   248

    fi

   249

    ;;

   250

   251

*)

   252

    echo "USAGE: $0 {start|stop|restart|status}"

   253

    ;;

   254

   255

esac

   256

   257

if [ -r /etc/rc.status ]; then

   258

    rc_exit

   259

else

   260

    exit 1

   261

fi

   262

   263

#------------------------------------------------------------------------------