script/ethercatctl.in
author Florian Pose <fp@igh.de>
Fri, 08 Sep 2017 13:50:06 +0200
branchstable-1.5
changeset 2684 56587a22d05c
parent 2562 e842688ccc5e
child 2689 61c7f0681247
permissions -rwxr-xr-x
Do not build GPIO part of CCAT if GPIO is not configured in kernel.
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#!/bin/sh
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#------------------------------------------------------------------------------
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#
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#  Start script for EtherCAT to use with systemd
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#
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#  $Id$
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#
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#  Copyright (C) 2006-2012  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
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#  EtherCAT technology and brand is only permitted in compliance with the
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#  industrial property and similar rights of Beckhoff Automation GmbH.
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#
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#  vim: expandtab sw=4 tw=78
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#
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#------------------------------------------------------------------------------
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LSMOD=/sbin/lsmod
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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/ethercat.conf
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if [ ! -r ${ETHERCAT_CONFIG} ]; then
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    echo ${ETHERCAT_CONFIG} not existing;
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    exit 6
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fi
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. ${ETHERCAT_CONFIG}
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#------------------------------------------------------------------------------
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parse_mac_address() {
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    if [ -z "${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 ${ETHERCAT_CONFIG}
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        exit 1
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    fi
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}
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#------------------------------------------------------------------------------
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case "${1}" in
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start)
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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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        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 1
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    fi
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    LOADED_MODULES=ec_master
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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 [ ${MODULE} != "generic" -a ${MODULE} != "ccat" ]; then
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            # try to unload standard module
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            if ${LSMOD} | grep "^${MODULE} " > /dev/null; then
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                if ! ${RMMOD} ${MODULE}; then
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                    ${RMMOD} ${LOADED_MODULES}
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                    exit 1
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                fi
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            fi
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        fi
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        if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then
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            if [ ${MODULE} != "generic" -a ${MODULE} != "ccat" ]; then
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                ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore
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            fi
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            ${RMMOD} ${LOADED_MODULES}
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            exit 1
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        fi
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        LOADED_MODULES="${ECMODULE} ${LOADED_MODULES}"
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    done
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    exit 0
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    ;;
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#------------------------------------------------------------------------------
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stop)
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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 1
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        fi;
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    done
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    sleep 1
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    # load standard modules again
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    for MODULE in ${DEVICE_MODULES}; do
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        if [ ${MODULE} == "generic" -o ${MODULE} == "ccat" ]; then
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            continue
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        fi
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        ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}
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    done
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    exit 0
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    ;;
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#------------------------------------------------------------------------------
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restart)
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    $0 stop || exit 1
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    sleep 1
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    $0 start
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    ;;
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#------------------------------------------------------------------------------
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status)
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    echo "Checking for EtherCAT master @VERSION@ "
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    # count masters in configuration file
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    MASTER_COUNT=0
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    while true; do
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        DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}")
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        if [ -z "${DEVICE}" ]; then break; fi
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        MASTER_COUNT=$(expr ${MASTER_COUNT} + 1)
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    done
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    RESULT=0
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    for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do
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        echo -n "Master${i} "
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        # Check if the master is in idle or operation phase
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        ${ETHERCAT} master --master ${i} 2>/dev/null | \
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            grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation'
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        EXITCODE=$?
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        if [ ${EXITCODE} -eq 0 ]; then
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            echo " running"
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        else
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            echo " dead"
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            RESULT=1
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        fi
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    done
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    exit ${RESULT}
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    ;;
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#------------------------------------------------------------------------------
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*)
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    echo "USAGE: $0 {start|stop|restart|status}"
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    exit 1
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    ;;
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esac
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#------------------------------------------------------------------------------