script/lsec
author Florian Pose <fp@igh-essen.com>
Fri, 06 Jun 2008 13:03:56 +0000
changeset 967 93807963b906
parent 835 23fd8b510803
permissions -rwxr-xr-x
Added ec_slave_get_sdo_const().
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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->{'current'} = 0;
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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'} = $1;
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                } elsif ($line =~ /Current consumption: (-?\d+) mA$/) {
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                    $slave->{'current'} = $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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   137
            $alias_index = 0;
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   138
        }
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   139
        if ($last_alias) {
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   140
            $slave->{'field_address'} = "#" . $last_alias . ":" . $alias_index;
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   141
            $width = length $slave->{'field_address'};
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   142
            $alias_col_width = $width if ($width > $alias_col_width);
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diff changeset
   143
        }
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   144
        $width = length $slave->{'ring_position'};
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   145
        $ring_col_width = $width if ($width > $ring_col_width);
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   146
        $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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   151
        unless (defined $slave->{'name'}) {
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            $slave->{'name'} = sprintf("0x%08X:0x%08X", $slave->{'vendor'},
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   153
                    $slave->{'product'});
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   154
        }
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    }
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   156
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    if (defined $opt{'c'}) { # display power consumtion
643
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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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   160
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   161
        my $current_sum = 0;
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        for $slave (@slaves) {
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   163
            &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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   168
        }
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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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   173
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        for $slave (@slaves) {
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            &print_line if $slave->{'alias'} and !defined $opt{n};
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   176
            printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'},
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   177
                    $slave->{'state'}, $slave->{'name'});
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   178
        }
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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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   187
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
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   188
    &print_usage if defined $opt{h} or $#ARGV > -1 or !$optret;
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diff changeset
   189
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
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   190
    if (defined $opt{m}) {
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   191
        $master_index = $opt{m};
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   192
    }
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   193
    else {
643
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   194
        $master_index = 0;
563
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   195
    }
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   196
}
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d113b63c55c4 Changed structure of scripts subdirectory.
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#------------------------------------------------------------------------------
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sub print_usage
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{
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   202
    my $cmd = `basename $0`;
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   203
    chomp $cmd;
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   204
    print "Usage: $cmd [OPTIONS]\n";
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   205
    print "        -m <IDX>    Query master <IDX>.\n";
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   206
    print "        -c          Display current [mA] ";
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   207
    print "(3: consumption, 4: remaining).\n";
766
97e98cbd0cd2 Fixed lsec script.
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   208
    print "        -n          Do not display lines before aliased slaves.\n";
563
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   209
    print "        -h          Show this help.\n";
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   210
    exit 0;
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   211
}
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   212
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   213
#------------------------------------------------------------------------------
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   214
d113b63c55c4 Changed structure of scripts subdirectory.
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   215
sub get_terminal_width
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   216
{
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   217
    my $winsize;
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   218
    die "no TIOCGWINSZ " unless defined &TIOCGWINSZ;
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   219
    open(TTY, "+</dev/tty") or die "No tty: $!";
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diff changeset
   220
    unless (ioctl(TTY, &TIOCGWINSZ, $winsize='')) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
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   221
        die sprintf "$0: ioctl TIOCGWINSZ (%08x: $!)\n", &TIOCGWINSZ;
563
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   222
    }
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diff changeset
   223
    (my $row, my $col, my $xpixel, my $ypixel) = unpack('S4', $winsize);
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   224
    return $col;
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   225
}
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   226
#------------------------------------------------------------------------------
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   227
d113b63c55c4 Changed structure of scripts subdirectory.
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   228
sub print_line
d113b63c55c4 Changed structure of scripts subdirectory.
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   229
{
643
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diff changeset
   230
    for (my $i = 0; $i < $term_width; $i++) {
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diff changeset
   231
        print "-";
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diff changeset
   232
    }
563
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   233
    print "\n";
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parents:
diff changeset
   234
}
d113b63c55c4 Changed structure of scripts subdirectory.
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   235
d113b63c55c4 Changed structure of scripts subdirectory.
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parents:
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   236
#------------------------------------------------------------------------------