examples/msr/init.sh
author Florian Pose <fp@igh-essen.com>
Mon, 12 Feb 2007 11:16:54 +0000
changeset 551 ac230bbd1d76
parent 451 cd6b819c2351
permissions -rwxr-xr-x
Minor: Adjusted minimal example to new testing hardware.
451
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#!/bin/sh
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#------------------------------------------------------------------------------
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#
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#  MSR Init Script
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#
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#  $Id$
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#
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#------------------------------------------------------------------------------
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### BEGIN INIT INFO
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# Provides:          msr
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# Required-Start:    $local_fs $syslog $network
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# Should-Start:      $time ntp ethercat
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# Required-Stop:     $local_fs $syslog $network
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# Should-Stop:       $time ntp ethercat
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# Default-Start:     3 5
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# Default-Stop:      0 1 2 6
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# Short-Description: MSR module
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# Description:
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### END INIT INFO
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#------------------------------------------------------------------------------
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# <Customizing>
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NAME="MSR EtherCAT sample"
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BASE=/opt/etherlab
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MSR_SERVER=$BASE/bin/msrserv.pl
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MODULE=ec_msr_sample
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RTAI_PATH=/usr/realtime
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RTAI_MODULES="hal up" # sem math
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DEVICE=msr
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DEVMASK=664
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GROUP=users
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# </Customizing>
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#------------------------------------------------------------------------------
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. /etc/rc.status
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rc_reset
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#------------------------------------------------------------------------------
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case "$1" in
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    start)
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	echo -n Starting $NAME" "
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	# Insert RTAI modules
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	for mod in $RTAI_MODULES; do
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	    if ! lsmod | grep -q "^rtai_$mod"; then
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		if ! insmod $RTAI_PATH/modules/rtai_$mod.ko; then
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		    /bin/false
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		    rc_status -v
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		    rc_exit
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		fi
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	    fi
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	done
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	# Insert realtime module
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	if ! modprobe $MODULE; then
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	    /bin/false
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	    rc_status -v
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	    rc_exit
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	fi
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	#sleep 2
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	# Create MSR device
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	MAJOR=`cat /proc/devices | awk "\\$2==\"$DEVICE\" {print \\$1}"`
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	rm -f /dev/${DEVICE}
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	mknod /dev/${DEVICE} c $MAJOR 0
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	chgrp $GROUP /dev/${DEVICE}
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	chmod $DEVMASK /dev/${DEVICE}
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	#sleep 1
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	# Start MSR-Server
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	startproc $MSR_SERVER 1>/dev/null 2>/dev/null
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	rc_status -v
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	;;
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    stop)
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	echo -n Shutting down $NAME" "
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	if ! killproc $MSR_SERVER; then
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	    /bin/false
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	    rc_status -v
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	    rc_exit
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	fi
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	if ! /sbin/rmmod $MODULE; then
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	    /bin/false
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	    rc_status -v
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	    rc_exit
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	fi
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	# Remove stale nodes
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	rm -f /dev/${DEVICE} /dev/${DEVICE}0
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	rc_status -v
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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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	$0 start
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	rc_status
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	;;
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    status)
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	echo -n "Checking for MSR module: "
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	/sbin/lsmod | grep -q "^$MODULE"
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	rc_status -v
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	echo -n "Checking for MSR server: "
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	checkproc $MSR_SERVER
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	rc_status -v
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	;;
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    *)
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	echo "Usage: $0 {start|stop|status|restart}"
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	exit 1
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	;;
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esac
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rc_exit