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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