author | Florian Pose <fp@igh-essen.com> |
Tue, 13 May 2008 16:28:55 +0000 | |
changeset 913 | c8ea5da6bf13 |
parent 835 | 23fd8b510803 |
permissions | -rwxr-xr-x |
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1 |
#!/usr/bin/perl |
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2 |
|
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3 |
#------------------------------------------------------------------------------ |
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4 |
# |
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5 |
# l s e c - List EtherCAT |
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6 |
# |
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# Userspace tool for listing EtherCAT slaves. |
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8 |
# |
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# $Id$ |
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10 |
# |
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# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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12 |
# |
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13 |
# This file is part of the IgH EtherCAT Master. |
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14 |
# |
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15 |
# The IgH EtherCAT Master is free software; you can redistribute it |
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16 |
# and/or modify it under the terms of the GNU General Public License |
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17 |
# as published by the Free Software Foundation; either version 2 of the |
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18 |
# License, or (at your option) any later version. |
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19 |
# |
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# The IgH EtherCAT Master is distributed in the hope that it will be |
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21 |
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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22 |
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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23 |
# GNU General Public License for more details. |
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24 |
# |
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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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|
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require 'sys/ioctl.ph'; |
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|
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use strict; |
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use Getopt::Std; |
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|
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my %opt; |
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my $master_index; |
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my $term_width; |
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#------------------------------------------------------------------------------ |
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$term_width = &get_terminal_width; |
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&get_options; |
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&query; |
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exit 0; |
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#------------------------------------------------------------------------------ |
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58 |
sub query |
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59 |
{ |
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my $master_dir; |
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my $dirhandle; |
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my $entry; |
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my $slave_info_file; |
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my @slaves; |
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my $slave; |
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my $line; |
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my $ring_col_width; |
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my $alias_col_width; |
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my $fmt; |
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my $width; |
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my $last_alias; |
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my $alias_index; |
766 | 73 |
my $category; |
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|
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$master_dir = "/sys/ethercat/master" . $master_index; |
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unless (opendir $dirhandle, $master_dir) { |
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print "Failed to open directory \"$master_dir\".\n"; |
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exit 1; |
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} |
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81 |
|
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82 |
while ($entry = readdir $dirhandle) { |
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83 |
next unless $entry =~ /^slave(\d+)$/; |
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84 |
|
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$slave = {}; |
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$slave->{'current'} = 0; |
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$slave_info_file = "$master_dir/$entry/info"; |
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open INFO, $slave_info_file or die |
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"ERROR: Failed to open $slave_info_file."; |
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90 |
|
766 | 91 |
$category = ""; |
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92 |
while ($line = <INFO>) { |
766 | 93 |
# remember category |
94 |
if ($line =~ /^([^\s][^:]*):$/) { |
|
95 |
$category = $1; |
|
96 |
} elsif ($line =~ /^\s*$/) { |
|
97 |
$category = ""; |
|
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98 |
} |
766 | 99 |
|
100 |
if ($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'} = $1; |
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117 |
} elsif ($line =~ /Current consumption: (-?\d+) mA$/) { |
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$slave->{'current'} = $1; |
766 | 119 |
} |
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120 |
} |
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121 |
} |
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122 |
|
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123 |
close INFO; |
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push @slaves, $slave; |
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125 |
} |
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126 |
closedir $dirhandle; |
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127 |
|
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128 |
@slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves; |
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|
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# create field addresses and calculate column widths |
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131 |
$ring_col_width = 0; |
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$alias_col_width = 0; |
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$last_alias = ""; |
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134 |
for $slave (@slaves) { |
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if ($slave->{'alias'}) { |
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136 |
$last_alias = $slave->{'alias'}; |
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137 |
$alias_index = 0; |
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138 |
} |
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139 |
if ($last_alias) { |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
140 |
$slave->{'field_address'} = "#" . $last_alias . ":" . $alias_index; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
141 |
$width = length $slave->{'field_address'}; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
142 |
$alias_col_width = $width if ($width > $alias_col_width); |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
143 |
} |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
144 |
$width = length $slave->{'ring_position'}; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
145 |
$ring_col_width = $width if ($width > $ring_col_width); |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
146 |
$alias_index++; |
563
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
147 |
} |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
148 |
|
766 | 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 |
||
563
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
157 |
if (defined $opt{'c'}) { # display power consumtion |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
158 |
$fmt = sprintf " %%%is %%%is %%6i %%6i %%s\n", |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
159 |
$ring_col_width, $alias_col_width; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
160 |
|
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
161 |
my $current_sum = 0; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
162 |
for $slave (@slaves) { |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
163 |
&print_line if $slave->{'alias'} and !defined $opt{n}; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
164 |
$current_sum = 0 if $slave->{'current'} < 0; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
165 |
$current_sum -= $slave->{'current'}; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
166 |
printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'}, |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
167 |
$slave->{'current'}, $current_sum, $slave->{'name'}); |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
168 |
} |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
169 |
} |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
170 |
else { # normal display |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
171 |
$fmt = sprintf " %%%is %%%is %%-6s %%s\n", |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
172 |
$ring_col_width, $alias_col_width; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
173 |
|
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
174 |
for $slave (@slaves) { |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
175 |
&print_line if $slave->{'alias'} and !defined $opt{n}; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
176 |
printf($fmt, $slave->{'ring_position'}, $slave->{'field_address'}, |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
177 |
$slave->{'state'}, $slave->{'name'}); |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
178 |
} |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
179 |
} |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
180 |
} |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
181 |
|
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
182 |
#------------------------------------------------------------------------------ |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
183 |
|
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
184 |
sub get_options |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
185 |
{ |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
186 |
my $optret = getopts "m:cnh", \%opt; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
187 |
|
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
188 |
&print_usage if defined $opt{h} or $#ARGV > -1 or !$optret; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
189 |
|
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
190 |
if (defined $opt{m}) { |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
191 |
$master_index = $opt{m}; |
563
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
} |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
else { |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
194 |
$master_index = 0; |
563
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
} |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
} |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
197 |
|
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
198 |
#------------------------------------------------------------------------------ |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
|
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
sub print_usage |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
{ |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
my $cmd = `basename $0`; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
chomp $cmd; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
print "Usage: $cmd [OPTIONS]\n"; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
print " -m <IDX> Query master <IDX>.\n"; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
print " -c Display current [mA] "; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
print "(3: consumption, 4: remaining).\n"; |
766 | 208 |
print " -n Do not display lines before aliased slaves.\n"; |
563
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
print " -h Show this help.\n"; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
210 |
exit 0; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
211 |
} |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
212 |
|
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
213 |
#------------------------------------------------------------------------------ |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
214 |
|
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
215 |
sub get_terminal_width |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
{ |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
217 |
my $winsize; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
218 |
die "no TIOCGWINSZ " unless defined &TIOCGWINSZ; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
219 |
open(TTY, "+</dev/tty") or die "No tty: $!"; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
220 |
unless (ioctl(TTY, &TIOCGWINSZ, $winsize='')) { |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
221 |
die sprintf "$0: ioctl TIOCGWINSZ (%08x: $!)\n", &TIOCGWINSZ; |
563
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
222 |
} |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
223 |
(my $row, my $col, my $xpixel, my $ypixel) = unpack('S4', $winsize); |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
224 |
return $col; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
225 |
} |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
226 |
#------------------------------------------------------------------------------ |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
227 |
|
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
228 |
sub print_line |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
229 |
{ |
643
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
230 |
for (my $i = 0; $i < $term_width; $i++) { |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
231 |
print "-"; |
78929d878b2c
Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents:
576
diff
changeset
|
232 |
} |
563
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
233 |
print "\n"; |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
234 |
} |
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
|
d113b63c55c4
Changed structure of scripts subdirectory.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
236 |
#------------------------------------------------------------------------------ |