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

require 'sys/ioctl.ph';

    41

    42

use strict;

    43

use Getopt::Std;

    44

    45

my %opt;

    46

my $master_index;

    47

my $term_width;

    48

    49

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

    50

    51

$term_width = &get_terminal_width;

    52

&get_options;

    53

&query;

    54

exit 0;

    55

    56

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

    57

    58

sub query

    59

{

    60

    my $master_dir;

    61

    my $dirhandle;

    62

    my $entry;

    63

    my $slave_info_file;

    64

    my @slaves;

    65

    my $slave;

    66

    my $line;

    67

    my $ring_col_width;

    68

    my $alias_col_width;

    69

    my $fmt;

    70

    my $width;

    71

    my $last_alias;

    72

    my $alias_index;

    73

    my $category;

    74

    75

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

    76

    77

    unless (opendir $dirhandle, $master_dir) {

    78

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

    79

        exit 1;

    80

    }

    81

    82

    while ($entry = readdir $dirhandle) {

    83

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

    84

    85

        $slave = {};

    86

        $slave->{'current'} = 0;

    87

        $slave_info_file = "$master_dir/$entry/info"; 

    88

        open INFO, $slave_info_file or die

    89

            "ERROR: Failed to open $slave_info_file.";

    90

    91

        $category = "";

    92

        while ($line = <INFO>) {

    93

            # remember category

    94

            if ($line =~ /^([^\s][^:]*):$/) {

    95

                $category = $1;

    96

            } elsif ($line =~ /^\s*$/) {

    97

                $category = "";

    98

            }

    99

   100

            if ($category eq "") {

   101

                if ($line =~ /^Ring position: (\d+)$/) {

   102

                    $slave->{'ring_position'} = $1;

   103

                } elsif ($line =~ /^State: (.+) /) {

   104

                    $slave->{'state'} = $1;

   105

                } elsif ($line =~ /^Configured station alias: .* \((\d+)\)$/) {

   106

                    $slave->{'alias'} = $1;

   107

                }

   108

            } elsif ($category eq "Identity") {

   109

                if ($line =~ /Vendor ID: .* \((\d+)\)$/) {

   110

                    $slave->{'vendor'} = $1;

   111

                } elsif ($line =~ /Product code: .* \((\d+)\)$/) {

   112

                    $slave->{'product'} = $1;

   113

                }

   114

            } elsif ($category eq "General") {

   115

                if ($line =~ /Name: (.*)$/) {

   116

                    $slave->{'name'} = $1;

   117

                } elsif ($line =~ /Current consumption: (-?\d+) mA$/) {

   118

                    $slave->{'current'} = $1;

   119

                }

   120

            }

   121

        }

   122

   123

        close INFO;

   124

        push @slaves, $slave;

   125

    }

   126

    closedir $dirhandle;

   127

   128

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

   129

   130

    # create field addresses and calculate column widths

   131

    $ring_col_width = 0;

   132

    $alias_col_width = 0;

   133

    $last_alias = "";

   134

    for $slave (@slaves) {

   135

        if ($slave->{'alias'}) {

   136

            $last_alias = $slave->{'alias'};

   137

            $alias_index = 0;

   138

        }

   139

        if ($last_alias) {

   140

            $slave->{'field_address'} = "#" . $last_alias . ":" . $alias_index;

   141

            $width = length $slave->{'field_address'};

   142

            $alias_col_width = $width if ($width > $alias_col_width);

   143

        }

   144

        $width = length $slave->{'ring_position'};

   145

        $ring_col_width = $width if ($width > $ring_col_width);

   146

        $alias_index++;

   147

    }

   148

   149

    # replace empty name with vendor id and product code

   150

    for $slave (@slaves) {

   151

        unless (defined $slave->{'name'}) {

   152

            $slave->{'name'} = sprintf("0x%08X:0x%08X", $slave->{'vendor'},

   153

                    $slave->{'product'});

   154

        }

   155

    }

   156

   157

    if (defined $opt{'c'}) { # display power consumtion

   158

        $fmt = sprintf " %%%is  %%%is  %%6i  %%6i  %%s\n",

   159

            $ring_col_width, $alias_col_width;

   160

   161

        my $current_sum = 0;

   162

        for $slave (@slaves) {

   163

            &print_line if $slave->{'alias'} and !defined $opt{n};

   164

            $current_sum = 0 if $slave->{'current'} < 0;

   165

            $current_sum -= $slave->{'current'};

   166

            printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'},

   167

                    $slave->{'current'}, $current_sum, $slave->{'name'});

   168

        }

   169

    }

   170

    else { # normal display

   171

        $fmt = sprintf " %%%is  %%%is  %%-6s  %%s\n",

   172

            $ring_col_width, $alias_col_width;

   173

   174

        for $slave (@slaves) {

   175

            &print_line if $slave->{'alias'} and !defined $opt{n};

   176

            printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'},

   177

                    $slave->{'state'}, $slave->{'name'});

   178

        }

   179

    }

   180

}

   181

   182

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

   183

   184

sub get_options

   185

{

   186

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

   187

   188

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

   189

   190

    if (defined $opt{m}) {

   191

        $master_index = $opt{m};

   192

    }

   193

    else {

   194

        $master_index = 0;

   195

    }

   196

}

   197

   198

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

   199

   200

sub print_usage

   201

{

   202

    my $cmd = `basename $0`;

   203

    chomp $cmd;

   204

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

   205

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

   206

    print "        -c          Display current [mA] ";

   207

    print "(3: consumption, 4: remaining).\n";

   208

    print "        -n          Do not display lines before aliased slaves.\n";

   209

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

   210

    exit 0;

   211

}

   212

   213

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

   214

   215

sub get_terminal_width

   216

{

   217

    my $winsize;

   218

    die "no TIOCGWINSZ " unless defined &TIOCGWINSZ;

   219

    open(TTY, "+</dev/tty") or die "No tty: $!";

   220

    unless (ioctl(TTY, &TIOCGWINSZ, $winsize='')) {

   221

        die sprintf "$0: ioctl TIOCGWINSZ (%08x: $!)\n", &TIOCGWINSZ;

   222

    }

   223

    (my $row, my $col, my $xpixel, my $ypixel) = unpack('S4', $winsize);

   224

    return $col;

   225

}

   226

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

   227

   228

sub print_line

   229

{

   230

    for (my $i = 0; $i < $term_width; $i++) {

   231

        print "-";

   232

    }

   233

    print "\n";

   234

}

   235

   236

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