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#!/usr/bin/perl

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

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#

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#  l s e c  -  List EtherCAT

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#

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#  Userspace tool for listing EtherCAT slaves.

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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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require 'sys/ioctl.ph';

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use strict;

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use Getopt::Std;

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my %opt;

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my $master_index;

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my $term_width;

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

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$term_width = &get_terminal_width;

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&get_options;

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&query;

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exit 0;

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

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sub query

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{

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    my $master_dir;

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    my $dirhandle;

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    my $entry;

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    my $slave_info_file;

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    my @slaves;

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    my $slave;

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    my $line;

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    my $ring_col_width;

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    my $alias_col_width;

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    my $fmt;

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    my $width;

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    my $last_alias;

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    my $alias_index;

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    my $category;

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    $master_dir = "/sys/ethercat/master" . $master_index;

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    unless (opendir $dirhandle, $master_dir) {

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        print "Failed to open directory \"$master_dir\".\n";

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        exit 1;

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    }

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    while ($entry = readdir $dirhandle) {

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        next unless $entry =~ /^slave(\d+)$/;

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        $slave = {};

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        $slave_info_file = "$master_dir/$entry/info"; 

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        open INFO, $slave_info_file or die

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            "ERROR: Failed to open $slave_info_file.";

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        $category = "";

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        while ($line = <INFO>) {

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            # remember category

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            if ($line =~ /^([^\s][^:]*):$/) {

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                $category = $1;

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            } elsif ($line =~ /^\s*$/) {

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                $category = "";

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            }

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            if ($category eq "") {

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                if ($line =~ /^Ring position: (\d+)$/) {

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                    $slave->{'ring_position'} = $1;

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                } elsif ($line =~ /^State: (.+) /) {

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                    $slave->{'state'} = $1;

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                } elsif ($line =~ /^Configured station alias: .* \((\d+)\)$/) {

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                    $slave->{'alias'} = $1;

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                }

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            } elsif ($category eq "Identity") {

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                if ($line =~ /Vendor ID: .* \((\d+)\)$/) {

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                    $slave->{'vendor'} = $1;

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                } elsif ($line =~ /Product code: .* \((\d+)\)$/) {

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                    $slave->{'product'} = $1;

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                }

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            } elsif ($category eq "General") {

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                if ($line =~ /Name: (.*)$/) {

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                    $slave->{'name'} = $1;

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                }

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            }

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        }

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        close INFO;

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        push @slaves, $slave;

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    }

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    closedir $dirhandle;

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    @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;

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    # create field addresses and calculate column widths

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    $ring_col_width = 0;

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    $alias_col_width = 0;

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    $last_alias = "";

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    for $slave (@slaves) {

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        if ($slave->{'alias'}) {

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            $last_alias = $slave->{'alias'};

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            $alias_index = 0;

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        }

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        if ($last_alias) {

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            $slave->{'field_address'} = "#" . $last_alias . ":" . $alias_index;

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            $width = length $slave->{'field_address'};

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            $alias_col_width = $width if ($width > $alias_col_width);

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        }

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        $width = length $slave->{'ring_position'};

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        $ring_col_width = $width if ($width > $ring_col_width);

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        $alias_index++;

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    }

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    # replace empty name with vendor id and product code

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    for $slave (@slaves) {

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        unless (defined $slave->{'name'}) {

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            $slave->{'name'} = sprintf("0x%08X:0x%08X", $slave->{'vendor'},

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                    $slave->{'product'});

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        }

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    }

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    if (defined $opt{'c'}) { # display power consumtion

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        $fmt = sprintf " %%%is  %%%is  %%6i  %%6i  %%s\n",

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            $ring_col_width, $alias_col_width;

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        my $current_sum = 0;

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        for $slave (@slaves) {

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            &print_line if $slave->{'alias'} and !defined $opt{n};

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            $current_sum = 0 if $slave->{'current'} < 0;

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            $current_sum -= $slave->{'current'};

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            printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'},

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                    $slave->{'current'}, $current_sum, $slave->{'name'});

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        }

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    }

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    else { # normal display

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        $fmt = sprintf " %%%is  %%%is  %%-6s  %%s\n",

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            $ring_col_width, $alias_col_width;

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        for $slave (@slaves) {

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            &print_line if $slave->{'alias'} and !defined $opt{n};

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            printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'},

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                    $slave->{'state'}, $slave->{'name'});

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        }

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    }

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}

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

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sub get_options

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{

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    my $optret = getopts "m:cnh", \%opt;

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    &print_usage if defined $opt{h} or $#ARGV > -1 or !$optret;

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    if (defined $opt{m}) {

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        $master_index = $opt{m};

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    }

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    else {

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        $master_index = 0;

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    }

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}

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

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sub print_usage

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{

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    my $cmd = `basename $0`;

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    chomp $cmd;

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    print "Usage: $cmd [OPTIONS]\n";

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    print "        -m <IDX>    Query master <IDX>.\n";

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    print "        -c          Display current [mA] ";

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    print "(3: consumption, 4: remaining).\n";

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    print "        -n          Do not display lines before aliased slaves.\n";

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    print "        -h          Show this help.\n";

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    exit 0;

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}

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

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sub get_terminal_width

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{

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    my $winsize;

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    die "no TIOCGWINSZ " unless defined &TIOCGWINSZ;

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    open(TTY, "+</dev/tty") or die "No tty: $!";

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    unless (ioctl(TTY, &TIOCGWINSZ, $winsize='')) {

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        die sprintf "$0: ioctl TIOCGWINSZ (%08x: $!)\n", &TIOCGWINSZ;

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    }

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    (my $row, my $col, my $xpixel, my $ypixel) = unpack('S4', $winsize);

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    return $col;

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}

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

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sub print_line

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{

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    for (my $i = 0; $i < $term_width; $i++) {

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        print "-";

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    }

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    print "\n";

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}

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