script/init.d/ethercat.in
author Florian Pose <fp@igh-essen.com>
Wed, 01 Oct 2008 10:06:51 +0000
changeset 1239 b50b93faaf3e
parent 1190 5f2e38dddd4e
child 1323 10fbef0a3ac5
permissions -rwxr-xr-x
Used ERR_PTR() macro for return value of ecrt_request_master().
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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: EtherCAT master
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# Description:       EtherCAT master @VERSION@
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### END INIT INFO
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#------------------------------------------------------------------------------
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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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ETHERCAT=@prefix@/bin/ethercat
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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_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 print_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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    else
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        echo " running"
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    fi
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}
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#------------------------------------------------------------------------------
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function print_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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    else
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        echo " dead"
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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 @VERSION@ "
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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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639
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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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    # 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
698
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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 @VERSION@ "
588
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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
698
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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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    sleep 1
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    # reload previous modules
588
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    for MODULE in ${DEVICE_MODULES}; do
812
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        if ! ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}; then
588
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            echo Warning: Failed to restore ${MODULE}.
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        fi
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    done
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698
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    exit_success
573
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   223
    ;;
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   225
restart)
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    $0 stop || exit 1
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    sleep 1
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    $0 start
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   229
    ;;
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   231
status)
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   232
    echo "Checking for EtherCAT master @VERSION@ "
1185
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   233
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   234
    # count masters in configuration file
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   235
    MASTER_COUNT=0
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   236
    while true; do
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   237
        DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}")
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   238
        if [ -z "${DEVICE}" ]; then break; fi
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   239
        MASTER_COUNT=$(expr ${MASTER_COUNT} + 1)
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   240
    done
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   241
337ce4fc2383 Repaired init script status command.
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   242
    RESULT=0
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   243
337ce4fc2383 Repaired init script status command.
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   244
    for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do
1190
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   245
        echo -n "Master${i} "
1185
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diff changeset
   246
        
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   247
        # Check if the master is in idle or operation phase
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   248
        ${ETHERCAT} master --master ${i} 2>/dev/null | \
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diff changeset
   249
            grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation'
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   250
        EXITCODE=$?
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   251
337ce4fc2383 Repaired init script status command.
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   252
        if [ ${EXITCODE} -eq 0 ]; then
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   253
            print_running
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diff changeset
   254
        else
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   255
            print_dead
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   256
            RESULT=1
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   257
        fi
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   258
    done
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   259
337ce4fc2383 Repaired init script status command.
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   260
    exit ${RESULT}
573
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   261
    ;;
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   262
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   263
*)
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diff changeset
   264
    echo "USAGE: $0 {start|stop|restart|status}"
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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diff changeset
   265
    ;;
563
d113b63c55c4 Changed structure of scripts subdirectory.
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parents:
diff changeset
   266
d113b63c55c4 Changed structure of scripts subdirectory.
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parents:
diff changeset
   267
esac
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diff changeset
   268
698
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   269
if [ -r /etc/rc.status ]; then
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   270
    rc_exit
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   271
else
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   272
    exit 1
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   273
fi
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   274
6693ea7c9047 removed rc.status dependencies from init script.
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   275
#------------------------------------------------------------------------------