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#!/usr/bin/perl

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

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#

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#  e c _ l i s t . p l

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#

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#  Userspace tool for listing EtherCAT slaves.

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#

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#  $Id: slave.c 340 2006-04-11 10:17:30Z fp $

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#

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

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use strict;

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use Getopt::Std;

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my $master_index;

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my $master_dir;

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

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&get_options;

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&query_master;

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exit 0;

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

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sub query_master

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{

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

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    &query_slaves;

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}

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

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sub query_slaves

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{

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    my $dirhandle;

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    my $slave_dir;

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    my $entry;

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    my $slave_index;

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    my $file_name;

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    my $vendor_name;

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    my @slaves;

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    my $slave;

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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_dir = $master_dir . "/" . $entry;

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	$slave = {};

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	$slave->{'ring_position'} =

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	    &read_integer("$slave_dir/ring_position");

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	$slave->{'station_address'} =

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	    &read_integer("$slave_dir/station_address");

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	$slave->{'vendor_name'} =

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	    &read_string("$slave_dir/vendor_name");

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	$slave->{'product_name'} =

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	    &read_string("$slave_dir/product_name");

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	$slave->{'product_desc'} =

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	    &read_string("$slave_dir/product_desc");

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	$slave->{'type'} =

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	    &read_string("$slave_dir/type");

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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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    my $coupler_index = -1;

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    my $slave_index = 0;

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    my $abs;

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    my $rel;

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    print "EtherCAT bus listing for master $master_index:\n";

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    for $slave (@slaves) {

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	if ($slave->{'type'} eq "coupler") {

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	    print "--------------------------------------------------------\n";

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	    $coupler_index++;

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	    $slave_index = 0;

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	}

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	$abs = sprintf "%i", $slave->{'ring_position'};

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	$rel = sprintf "%i:%i", $coupler_index, $slave_index;

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	printf("%4s %6s   %-15s %-15s %-15s\n", $abs, $rel,

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	       $slave->{'vendor_name'}, $slave->{'product_name'},

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	       $slave->{'product_desc'});

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	if ($slave->{'type'} eq "coupler") {

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	    print "--------------------------------------------------------\n";

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	}

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	$slave_index++;

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    }

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    print "--------------------------------------------------------\n";

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}

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

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sub read_string

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{

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    (my $file_name) = @_;

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    my $data;

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    $data = `cat $file_name 2>/dev/null`;

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    if ($?) {

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	print "ERROR: Unable to read string $file_name!\n";

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	exit 1;

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    }

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    chomp $data;

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    return $data;

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}

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

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sub read_integer

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{

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    (my $file_name) = @_;

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    if (`cat $file_name 2>/dev/null` !~ /^(\d+)$/) {

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	print "ERROR: Unable to read integer $file_name!\n";

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	exit 1;

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    }

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    return int $1;

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}

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

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sub get_options

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{

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    my %opt;

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    my $optret;

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

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

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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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    print "Usage: ec_list [OPTIONS]\n";

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    print "        -m <IDX>    Query master IDX.\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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#------------------------------------------------------------------------------