1

#!/usr/bin/perl

     2

     3

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

     4

#

     5

#  l s e c  -  List EtherCAT

     6

#

     7

#  Userspace tool for listing EtherCAT slaves.

     8

#

     9

#  $Id$

    10

#

    11

#  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

    12

#

    13

#  This file is part of the IgH EtherCAT Master.

    14

#

    15

#  The IgH EtherCAT Master is free software; you can redistribute it

    16

#  and/or modify it under the terms of the GNU General Public License

    17

#  as published by the Free Software Foundation; either version 2 of the

    18

#  License, or (at your option) any later version.

    19

#

    20

#  The IgH EtherCAT Master is distributed in the hope that it will be

    21

#  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    22

#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    23

#  GNU General Public License for more details.

    24

#

    25

#  You should have received a copy of the GNU General Public License

    26

#  along with the IgH EtherCAT Master; if not, write to the Free Software

    27

#  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    28

#

    29

#  The right to use EtherCAT Technology is granted and comes free of

    30

#  charge under condition of compatibility of product made by

    31

#  Licensee. People intending to distribute/sell products based on the

    32

#  code, have to sign an agreement to guarantee that products using

    33

#  software based on IgH EtherCAT master stay compatible with the actual

    34

#  EtherCAT specification (which are released themselves as an open

    35

#  standard) as the (only) precondition to have the right to use EtherCAT

    36

#  Technology, IP and trade marks.

    37

#

    38

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

    39

    40

use strict;

    41

use Getopt::Std;

    42

    43

my $master_index;

    44

my $master_dir;

    45

my $show_sii_naming;

    46

    47

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

    48

    49

&get_options;

    50

&query_master;

    51

exit 0;

    52

    53

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

    54

    55

sub query_master

    56

{

    57

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

    58

    &query_slaves;

    59

}

    60

    61

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

    62

    63

sub query_slaves

    64

{

    65

    my $dirhandle;

    66

    my $slave_dir;

    67

    my $entry;

    68

    my $slave_index;

    69

    my $file_name;

    70

    my $vendor_name;

    71

    my @slaves;

    72

    my $slave;

    73

    my $abs;

    74

    75

    unless (opendir $dirhandle, $master_dir) {

    76

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

    77

	exit 1;

    78

    }

    79

    80

    while ($entry = readdir $dirhandle) {

    81

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

    82

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

    83

    84

	$slave = {};

    85

	$slave->{'ring_position'} =

    86

	    &read_integer("$slave_dir/ring_position");

    87

	$slave->{'advanced_position'} =

    88

	    &read_string("$slave_dir/advanced_position");

    89

	unless ($show_sii_naming) {

    90

	    $slave->{'vendor_name'} =

    91

		&read_string("$slave_dir/vendor_name");

    92

	    $slave->{'product_name'} =

    93

		&read_string("$slave_dir/product_name");

    94

	    $slave->{'product_desc'} =

    95

		&read_string("$slave_dir/product_desc");

    96

	}

    97

	else {

    98

	    $slave->{'name'} =

    99

		&read_string("$slave_dir/name");

   100

	}

   101

	$slave->{'type'} =

   102

	    &read_string("$slave_dir/type");

   103

   104

	push @slaves, $slave;

   105

    }

   106

    closedir $dirhandle;

   107

   108

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

   109

   110

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

   111

    for $slave (@slaves) {

   112

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

   113

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

   114

	}

   115

   116

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

   117

	printf(" %3s %8s   ", $abs, $slave->{'advanced_position'});

   118

	unless ($show_sii_naming) {

   119

	    printf("%-12s %-10s %s\n", $slave->{'vendor_name'},

   120

		   $slave->{'product_name'}, $slave->{'product_desc'});

   121

	}

   122

	else {

   123

	    printf("%s\n", $slave->{'name'});

   124

	}

   125

    }

   126

}

   127

   128

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

   129

   130

sub read_string

   131

{

   132

    (my $file_name) = @_;

   133

    my $data;

   134

   135

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

   136

    if ($?) {

   137

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

   138

	exit 1;

   139

    }

   140

   141

    chomp $data;

   142

    return $data;

   143

}

   144

   145

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

   146

   147

sub read_integer

   148

{

   149

    (my $file_name) = @_;

   150

   151

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

   152

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

   153

	exit 1;

   154

    }

   155

   156

    return int $1;

   157

}

   158

   159

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

   160

   161

sub get_options

   162

{

   163

    my %opt;

   164

    my $optret;

   165

   166

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

   167

   168

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

   169

   170

    if (defined $opt{'m'}) {

   171

	$master_index = $opt{'m'};

   172

    }

   173

    else {

   174

	$master_index = 0;

   175

    }

   176

   177

    $show_sii_naming = defined $opt{'s'};

   178

}

   179

   180

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

   181

   182

sub print_usage

   183

{

   184

    print "Usage: $0 [OPTIONS]\n";

   185

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

   186

    print "        -s          Show EEPROM name instead of";

   187

    print " vendor/product/description.\n";

   188

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

   189

    exit 0;

   190

}

   191

   192

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