1 #!/usr/bin/perl

     2 

     3 #------------------------------------------------------------------------------

     4 #

     5 #  e c _ l i s t . p l

     6 #

     7 #  Userspace tool for listing EtherCAT slaves.

     8 #

     9 #  $Id: slave.c 340 2006-04-11 10:17:30Z fp $

    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; version 2 of the License.

    18 #

    19 #  The IgH EtherCAT Master is distributed in the hope that it will be

    20 #  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    21 #  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    22 #  GNU General Public License for more details.

    23 #

    24 #  You should have received a copy of the GNU General Public License

    25 #  along with the IgH EtherCAT Master; if not, write to the Free Software

    26 #  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    27 #

    28 #------------------------------------------------------------------------------

    29 

    30 use strict;

    31 use Getopt::Std;

    32 

    33 my $master_index;

    34 my $master_dir;

    35 

    36 #------------------------------------------------------------------------------

    37 

    38 &get_options;

    39 &query_master;

    40 exit 0;

    41 

    42 #------------------------------------------------------------------------------

    43 

    44 sub query_master

    45 {

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

    47     &query_slaves;

    48 }

    49 

    50 #------------------------------------------------------------------------------

    51 

    52 sub query_slaves

    53 {

    54     my $dirhandle;

    55     my $slave_dir;

    56     my $entry;

    57     my $slave_index;

    58     my $file_name;

    59     my $vendor_name;

    60     my @slaves;

    61     my $slave;

    62     my $abs;

    63 

    64     unless (opendir $dirhandle, $master_dir) {

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

    66 	exit 1;

    67     }

    68 

    69     while ($entry = readdir $dirhandle) {

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

    71 	$slave_dir = $master_dir . "/" . $entry;

    72 

    73 	$slave = {};

    74 	$slave->{'ring_position'} =

    75 	    &read_integer("$slave_dir/ring_position");

    76 	$slave->{'coupler_address'} =

    77 	    &read_string("$slave_dir/coupler_address");

    78 	$slave->{'vendor_name'} =

    79 	    &read_string("$slave_dir/vendor_name");

    80 	$slave->{'product_name'} =

    81 	    &read_string("$slave_dir/product_name");

    82 	$slave->{'product_desc'} =

    83 	    &read_string("$slave_dir/product_desc");

    84 	$slave->{'type'} =

    85 	    &read_string("$slave_dir/type");

    86 

    87 	push @slaves, $slave;

    88     }

    89     closedir $dirhandle;

    90 

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

    92 

    93     print "EtherCAT bus listing for master $master_index:\n";

    94     for $slave (@slaves) {

    95 	if ($slave->{'type'} eq "coupler") {

    96 	    print "--------------------------------------------------------\n";

    97 	}

    98 

    99 	$abs = sprintf "%i", $slave->{'ring_position'};

   100 	printf(" %3s %8s   %-12s %-10s %s\n", $abs,

   101 	       $slave->{'coupler_address'}, $slave->{'vendor_name'},

   102 	       $slave->{'product_name'}, $slave->{'product_desc'});

   103     }

   104 }

   105 

   106 #------------------------------------------------------------------------------

   107 

   108 sub read_string

   109 {

   110     (my $file_name) = @_;

   111     my $data;

   112 

   113     $data = `cat $file_name 2>/dev/null`;

   114     if ($?) {

   115 	print "ERROR: Unable to read string $file_name!\n";

   116 	exit 1;

   117     }

   118 

   119     chomp $data;

   120     return $data;

   121 }

   122 

   123 #------------------------------------------------------------------------------

   124 

   125 sub read_integer

   126 {

   127     (my $file_name) = @_;

   128 

   129     if (`cat $file_name 2>/dev/null` !~ /^(\d+)$/) {

   130 	print "ERROR: Unable to read integer $file_name!\n";

   131 	exit 1;

   132     }

   133 

   134     return int $1;

   135 }

   136 

   137 #------------------------------------------------------------------------------

   138 

   139 sub get_options

   140 {

   141     my %opt;

   142     my $optret;

   143 

   144     $optret = getopts "m:h", \%opt;

   145 

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

   147 

   148     if (defined $opt{'m'}) {

   149 	$master_index = $opt{'m'};

   150     }

   151     else {

   152 	$master_index = 0;

   153     }

   154 }

   155 

   156 #------------------------------------------------------------------------------

   157 

   158 sub print_usage

   159 {

   160     print "Usage: ec_list [OPTIONS]\n";

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

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

   163     exit 0;

   164 }

   165 

   166 #------------------------------------------------------------------------------