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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  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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### 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: IgH EtherCAT master modules

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# Description:

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### END INIT INFO

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

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XMLDEVICE='ecxml'

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

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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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function exit_success()

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{

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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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function exit_running()

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{

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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 " running"

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        exit 0

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    fi

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}

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

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function exit_fail()

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{

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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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function exit_dead()

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{

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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 " dead"

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        exit 1

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    fi

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}

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

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function parse_mac_address()

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{

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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 "

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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_fail

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    fi

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    # remove stale device node

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    rm -f /dev/${XMLDEVICE}0

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    # get dynamic major number

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    MAJOR=$(awk "\$2==\"EtherCAT\" {print \$1}" /proc/devices)

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    # create character device

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    mknod /dev/${XMLDEVICE}0 c ${MAJOR} 0

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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

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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 "

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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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    # remove device node

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    rm -f /dev/${XMLDEVICE}0

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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

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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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status)

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    echo -n "Checking for EtherCAT "

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    lsmod | grep -q "^ec_master "

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    MASTERS_RUNNING=$?

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    ! grep -q "(WAITING)" /sys/ethercat/master*/info

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    MASTERS_IDLE=$?

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    # master module loaded and masters not waiting for devices?

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    if [ ${MASTERS_RUNNING} -eq 0 -a ${MASTERS_IDLE} -eq 0 ]; then

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        exit_running

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    else

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        exit_dead

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    fi

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    ;;

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*)

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    echo "USAGE: $0 {start|stop|restart|status}"

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    ;;

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esac

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if [ -r /etc/rc.status ]; then

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    rc_exit

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else

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    exit 1

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fi

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