script/init.d/ethercat.in
author Florian Pose <fp@igh-essen.com>
Mon, 04 May 2009 10:05:55 +0000
changeset 1434 4c6fe0ae37f1
parent 1363 11c0b2caa253
child 1556 52ec7297637c
permissions -rwxr-xr-x
Separated application time from synchronizing reference clock.
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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) 2006-2008  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 and/or
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#  modify it under the terms of the GNU General Public License version 2, as
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#  published by the Free Software Foundation.
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#
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#  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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#  but WITHOUT ANY WARRANTY; without even the implied warranty of
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#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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#  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 along
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#  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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#  ---
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#  
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#  The license mentioned above concerns the source code only. Using the EtherCAT
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#  technology and brand is only permitted in compliance with the industrial
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#  property and similar rights of Beckhoff Automation GmbH.
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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: EtherCAT master
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# Description:       EtherCAT master @VERSION@
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### END INIT INFO
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#------------------------------------------------------------------------------
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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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ETHERCAT=@prefix@/bin/ethercat
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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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exit_success() {
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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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exit_fail() {
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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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print_running() {
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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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    else
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        echo " running"
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    fi
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}
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#------------------------------------------------------------------------------
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print_dead() {
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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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    else
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        echo " dead"
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    fi
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}
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#------------------------------------------------------------------------------
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parse_mac_address() {
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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 ${ETHERCAT_CONFIG}
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        exit_fail
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    fi 
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}
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#------------------------------------------------------------------------------
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if [ -r /etc/rc.status ]; then
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    . /etc/rc.status
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    rc_reset
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fi
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case "${1}" in
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start)
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    echo -n "Starting EtherCAT master @VERSION@ "
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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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   145
    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} ${MODPROBE_FLAGS} ec_master \
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            main_devices=${DEVICES} backup_devices=${BACKUPS}; then
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        exit_fail
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    fi
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   169
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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}
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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
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            fi
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        fi
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        if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then
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            ${MODPROBE} ${MODPROBE_FLAGS} ${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
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    ;;
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stop)
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    echo -n "Shutting down EtherCAT master @VERSION@ "
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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
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            continue # ec_* module not loaded
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        fi
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        if ! ${RMMOD} ${ECMODULE}; then
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            exit_fail
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        fi;
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    done
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    sleep 1
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    # reload previous modules
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    for MODULE in ${DEVICE_MODULES}; do
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        if ! ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}; then
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            echo Warning: Failed to restore ${MODULE}.
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        fi
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    done
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    exit_success
573
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    ;;
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   216
restart)
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    $0 stop || exit 1
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    sleep 1
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    $0 start
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    ;;
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   221
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   222
status)
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   223
    echo "Checking for EtherCAT master @VERSION@ "
1185
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   224
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    # count masters in configuration file
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   226
    MASTER_COUNT=0
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   227
    while true; do
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   228
        DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}")
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   229
        if [ -z "${DEVICE}" ]; then break; fi
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   230
        MASTER_COUNT=$(expr ${MASTER_COUNT} + 1)
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   231
    done
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   232
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   233
    RESULT=0
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   234
337ce4fc2383 Repaired init script status command.
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   235
    for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do
1190
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   236
        echo -n "Master${i} "
1185
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   237
        
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   238
        # Check if the master is in idle or operation phase
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   239
        ${ETHERCAT} master --master ${i} 2>/dev/null | \
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   240
            grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation'
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   241
        EXITCODE=$?
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   242
337ce4fc2383 Repaired init script status command.
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   243
        if [ ${EXITCODE} -eq 0 ]; then
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   244
            print_running
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   245
        else
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   246
            print_dead
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   247
            RESULT=1
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   248
        fi
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   249
    done
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   250
337ce4fc2383 Repaired init script status command.
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   251
    exit ${RESULT}
573
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   252
    ;;
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   253
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   254
*)
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   255
    echo "USAGE: $0 {start|stop|restart|status}"
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   256
    ;;
563
d113b63c55c4 Changed structure of scripts subdirectory.
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parents:
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   257
d113b63c55c4 Changed structure of scripts subdirectory.
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   258
esac
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   259
698
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   260
if [ -r /etc/rc.status ]; then
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   261
    rc_exit
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   262
else
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   263
    exit 1
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   264
fi
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   265
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   266
#------------------------------------------------------------------------------