1 #!/bin/sh |
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2 |
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3 #------------------------------------------------------------------------------ |
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4 # |
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5 # MSR Init Script |
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6 # |
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7 # $Id$ |
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8 # |
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9 #------------------------------------------------------------------------------ |
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10 |
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11 ### BEGIN INIT INFO |
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12 # Provides: msr |
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13 # Required-Start: $local_fs $syslog $network |
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14 # Should-Start: $time ntp ethercat |
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15 # Required-Stop: $local_fs $syslog $network |
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16 # Should-Stop: $time ntp ethercat |
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17 # Default-Start: 3 5 |
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18 # Default-Stop: 0 1 2 6 |
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19 # Short-Description: MSR module |
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20 # Description: |
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21 ### END INIT INFO |
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22 |
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23 #------------------------------------------------------------------------------ |
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24 |
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25 # <Customizing> |
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26 |
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27 NAME="MSR EtherCAT sample" |
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28 BASE=/opt/etherlab |
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29 MSR_SERVER=$BASE/bin/msrserv.pl |
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30 MODULE=ec_msr_sample |
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31 RTAI_PATH=/usr/realtime |
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32 RTAI_MODULES="hal up" # sem math |
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33 DEVICE=msr |
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34 DEVMASK=664 |
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35 GROUP=users |
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36 |
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37 # </Customizing> |
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38 |
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39 #------------------------------------------------------------------------------ |
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40 |
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41 . /etc/rc.status |
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42 rc_reset |
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43 |
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44 #------------------------------------------------------------------------------ |
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45 |
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46 case "$1" in |
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47 start) |
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48 echo -n Starting $NAME" " |
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49 |
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50 # Insert RTAI modules |
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51 for mod in $RTAI_MODULES; do |
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52 if ! lsmod | grep -q "^rtai_$mod"; then |
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53 if ! insmod $RTAI_PATH/modules/rtai_$mod.ko; then |
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54 /bin/false |
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55 rc_status -v |
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56 rc_exit |
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57 fi |
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58 fi |
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59 done |
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60 |
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61 # Insert realtime module |
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62 if ! modprobe $MODULE; then |
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63 /bin/false |
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64 rc_status -v |
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65 rc_exit |
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66 fi |
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67 |
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68 #sleep 2 |
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69 |
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70 # Create MSR device |
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71 MAJOR=`cat /proc/devices | awk "\\$2==\"$DEVICE\" {print \\$1}"` |
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72 rm -f /dev/${DEVICE} |
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73 mknod /dev/${DEVICE} c $MAJOR 0 |
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74 chgrp $GROUP /dev/${DEVICE} |
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75 chmod $DEVMASK /dev/${DEVICE} |
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76 |
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77 #sleep 1 |
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78 |
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79 # Start MSR-Server |
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80 startproc $MSR_SERVER 1>/dev/null 2>/dev/null |
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81 rc_status -v |
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82 ;; |
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83 |
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84 stop) |
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85 echo -n Shutting down $NAME" " |
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86 |
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87 if ! killproc $MSR_SERVER; then |
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88 /bin/false |
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89 rc_status -v |
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90 rc_exit |
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91 fi |
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92 |
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93 if ! /sbin/rmmod $MODULE; then |
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94 /bin/false |
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95 rc_status -v |
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96 rc_exit |
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97 fi |
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98 |
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99 # Remove stale nodes |
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100 rm -f /dev/${DEVICE} /dev/${DEVICE}0 |
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101 |
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102 rc_status -v |
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103 ;; |
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104 |
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105 restart) |
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106 $0 stop || exit 1 |
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107 sleep 1 |
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108 $0 start |
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109 |
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110 rc_status |
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111 ;; |
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112 |
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113 status) |
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114 echo -n "Checking for MSR module: " |
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115 /sbin/lsmod | grep -q "^$MODULE" |
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116 rc_status -v |
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117 |
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118 echo -n "Checking for MSR server: " |
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119 checkproc $MSR_SERVER |
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120 rc_status -v |
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121 ;; |
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122 |
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123 *) |
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124 echo "Usage: $0 {start|stop|status|restart}" |
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125 exit 1 |
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126 ;; |
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127 esac |
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128 |
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129 rc_exit |
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