script/init.d/ethercat
author Florian Pose <fp@igh-essen.com>
Tue, 18 Dec 2007 16:56:52 +0000
changeset 769 2195c2ea37b4
parent 702 bc985819713a
child 806 ab8daaabbe48
permissions -rwxr-xr-x
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
fragments_left is set.
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#!/bin/sh
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#------------------------------------------------------------------------------
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#
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#  Init script for EtherCAT
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#
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#  $Id$
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#
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#  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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#
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#  This file is part of the IgH EtherCAT Master.
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#
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#  The IgH EtherCAT Master is free software; you can redistribute it
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#  and/or modify it under the terms of the GNU General Public License
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#  as published by the Free Software Foundation; either version 2 of the
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#  License, or (at your option) any later version.
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#
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#  The IgH EtherCAT Master is distributed in the hope that it will be
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#  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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#  GNU General Public License for more details.
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#
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#  You should have received a copy of the GNU General Public License
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#  along with the IgH EtherCAT Master; if not, write to the Free Software
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#  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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#
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#  The right to use EtherCAT Technology is granted and comes free of
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#  charge under condition of compatibility of product made by
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#  Licensee. People intending to distribute/sell products based on the
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#  code, have to sign an agreement to guarantee that products using
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#  software based on IgH EtherCAT master stay compatible with the actual
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#  EtherCAT specification (which are released themselves as an open
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#  standard) as the (only) precondition to have the right to use EtherCAT
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#  Technology, IP and trade marks.
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#
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#------------------------------------------------------------------------------
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### BEGIN INIT INFO
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# Provides:          ethercat
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# Required-Start:    $local_fs $syslog $network
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# Should-Start:      $time ntp
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# Required-Stop:     $local_fs $syslog $network
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# Should-Stop:       $time ntp
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# Default-Start:     3 5
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# Default-Stop:      0 1 2 6
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# Short-Description: IgH EtherCAT master modules
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# Description:
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### END INIT INFO
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#------------------------------------------------------------------------------
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XMLDEVICE='ecxml'
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MODPROBE=/sbin/modprobe
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RMMOD=/sbin/rmmod
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MODINFO=/sbin/modinfo
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#------------------------------------------------------------------------------
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ETHERCAT_CONFIG=/etc/sysconfig/ethercat
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if [ ! -r ${ETHERCAT_CONFIG} ]; then
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    echo ${ETHERCAT_CONFIG} not existing;
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    if [ "${1}" = "stop" ]; then
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	exit 0
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    else
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	exit 6
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    fi
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fi
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. ${ETHERCAT_CONFIG}
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#------------------------------------------------------------------------------
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function exit_success()
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{
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    if [ -r /etc/rc.status ]; then
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        rc_reset
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        rc_status -v
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        rc_exit
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    else
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        echo " done"
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        exit 0
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    fi
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}
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#------------------------------------------------------------------------------
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function exit_running()
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{
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    if [ -r /etc/rc.status ]; then
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        rc_reset
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        rc_status -v
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        rc_exit
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    else
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        echo " running"
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        exit 0
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    fi
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}
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#------------------------------------------------------------------------------
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function exit_fail()
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{
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    if [ -r /etc/rc.status ]; then
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        rc_failed
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        rc_status -v
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        rc_exit
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    else
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        echo " failed"
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        exit 1
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    fi
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}
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#------------------------------------------------------------------------------
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function exit_dead()
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{
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    if [ -r /etc/rc.status ]; then
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        rc_failed
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        rc_status -v
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        rc_exit
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    else
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        echo " dead"
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        exit 1
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    fi
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}
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#------------------------------------------------------------------------------
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function parse_mac_address()
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{
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    if [ -z "${1}" ]; then
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        MAC=""
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    elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then
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        MAC=${1}
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    else
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        echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG}
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        exit_fail
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    fi 
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}
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#------------------------------------------------------------------------------
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if [ -r /etc/rc.status ]; then
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    . /etc/rc.status
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    rc_reset
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fi
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573
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case "${1}" in
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start)
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    echo -n "Starting EtherCAT master "
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    # construct DEVICES and BACKUPS from configuration variables
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    DEVICES=""
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    BACKUPS=""
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    MASTER_INDEX=0
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    while true; do
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        DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}")
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        BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}")
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        if [ -z "${DEVICE}" ]; then break; fi
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639
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        if [ ${MASTER_INDEX} -gt 0 ]; then
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            DEVICES=${DEVICES},
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            BACKUPS=${BACKUPS},
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        fi
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        parse_mac_address ${DEVICE}
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        DEVICES=${DEVICES}${MAC}
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        parse_mac_address ${BACKUP}
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        BACKUPS=${BACKUPS}${MAC}
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        MASTER_INDEX=$(expr ${MASTER_INDEX} + 1)
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    done
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    # load master module
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    if ! ${MODPROBE} ec_master main=${DEVICES} backup=${BACKUPS}; then
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        exit_fail
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    fi
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    # remove stale device node
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    rm -f /dev/${XMLDEVICE}0
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    # get dynamic major number
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    MAJOR=$(awk "\$2==\"EtherCAT\" {print \$1}" /proc/devices)
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    # create character device
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    mknod /dev/${XMLDEVICE}0 c ${MAJOR} 0
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    # check for modules to replace
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    for MODULE in ${DEVICE_MODULES}; do
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        ECMODULE=ec_${MODULE}
698
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        if ! ${MODINFO} ${ECMODULE} > /dev/null; then
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            continue # ec_* module not found
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        fi
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        if lsmod | grep "^${MODULE} " > /dev/null; then
698
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            if ! ${RMMOD} ${MODULE}; then
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                exit_fail
588
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            fi
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        fi
698
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        if ! ${MODPROBE} ${ECMODULE}; then
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            ${MODPROBE} ${MODULE} # try to restore module
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            exit_fail
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        fi
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    done
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    exit_success
588
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    ;;
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stop)
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    echo -n "Shutting down EtherCAT master "
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    # unload EtherCAT device modules
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    for MODULE in ${DEVICE_MODULES} master; do
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        ECMODULE=ec_${MODULE}
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        if ! lsmod | grep -q "^${ECMODULE} "; then
698
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            continue # ec_* module not loaded
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   219
        fi
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        if ! ${RMMOD} ${ECMODULE}; then
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   221
            exit_fail
573
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        fi;
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    done
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   224
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    # remove device node
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    rm -f /dev/${XMLDEVICE}0
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   227
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   228
    sleep 1
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   229
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    # reload previous modules
588
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diff changeset
   231
    for MODULE in ${DEVICE_MODULES}; do
698
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   232
        if ! ${MODPROBE} ${MODULE}; then
588
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            echo Warning: Failed to restore ${MODULE}.
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   234
        fi
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   235
    done
573
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   236
698
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   237
    exit_success
573
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   238
    ;;
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   239
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   240
restart)
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diff changeset
   241
    $0 stop || exit 1
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   242
    sleep 1
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   243
    $0 start
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   244
    ;;
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   245
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   246
status)
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   247
    echo -n "Checking for EtherCAT "
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diff changeset
   248
588
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   249
    lsmod | grep -q "^ec_master "
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diff changeset
   250
    MASTERS_RUNNING=$?
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diff changeset
   251
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   252
    ! grep -q "(WAITING)" /sys/ethercat/master*/info
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diff changeset
   253
    MASTERS_IDLE=$?
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diff changeset
   254
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diff changeset
   255
    # master module loaded and masters not waiting for devices?
698
6693ea7c9047 removed rc.status dependencies from init script.
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diff changeset
   256
    if [ ${MASTERS_RUNNING} -eq 0 -a ${MASTERS_IDLE} -eq 0 ]; then
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diff changeset
   257
        exit_running
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diff changeset
   258
    else
702
bc985819713a Fixed init script.
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diff changeset
   259
        exit_dead
698
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diff changeset
   260
    fi
573
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diff changeset
   261
    ;;
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   262
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   263
*)
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diff changeset
   264
    echo "USAGE: $0 {start|stop|restart|status}"
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diff changeset
   265
    ;;
563
d113b63c55c4 Changed structure of scripts subdirectory.
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parents:
diff changeset
   266
d113b63c55c4 Changed structure of scripts subdirectory.
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parents:
diff changeset
   267
esac
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parents:
diff changeset
   268
698
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diff changeset
   269
if [ -r /etc/rc.status ]; then
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   270
    rc_exit
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diff changeset
   271
else
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   272
    exit 1
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diff changeset
   273
fi
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   274
6693ea7c9047 removed rc.status dependencies from init script.
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   275
#------------------------------------------------------------------------------