1 #!/bin/sh

     2 

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

     4 #

     5 #  Start script for EtherCAT to use with systemd

     6 #

     7 #  $Id$

     8 #

     9 #  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH

    10 #

    11 #  This file is part of the IgH EtherCAT Master.

    12 #

    13 #  The IgH EtherCAT Master is free software; you can redistribute it and/or

    14 #  modify it under the terms of the GNU General Public License version 2, as

    15 #  published by the Free Software Foundation.

    16 #

    17 #  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    18 #  but WITHOUT ANY WARRANTY; without even the implied warranty of

    19 #  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    20 #  Public License for more details.

    21 #

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

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

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

    25 #

    26 #  ---

    27 #

    28 #  The license mentioned above concerns the source code only. Using the

    29 #  EtherCAT technology and brand is only permitted in compliance with the

    30 #  industrial property and similar rights of Beckhoff Automation GmbH.

    31 #

    32 #  vim: expandtab sw=4 tw=78

    33 #

    34 #------------------------------------------------------------------------------

    35 

    36 MODPROBE=/sbin/modprobe

    37 RMMOD=/sbin/rmmod

    38 MODINFO=/sbin/modinfo

    39 

    40 ETHERCAT=@prefix@/bin/ethercat

    41 

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

    43 

    44 ETHERCAT_CONFIG=/etc/ethercat.conf

    45 

    46 if [ ! -r ${ETHERCAT_CONFIG} ]; then

    47     echo ${ETHERCAT_CONFIG} not existing;

    48     exit 6

    49 fi

    50 

    51 . ${ETHERCAT_CONFIG}

    52 

    53 #------------------------------------------------------------------------------

    54 

    55 parse_mac_address() {

    56     if [ -z "${1}" ]; then

    57         MAC=""

    58     elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then

    59         MAC=${1}

    60     else

    61         echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG}

    62         exit 1

    63     fi

    64 }

    65 

    66 #------------------------------------------------------------------------------

    67 

    68 case "${1}" in

    69 

    70 start)

    71     # construct DEVICES and BACKUPS from configuration variables

    72     DEVICES=""

    73     BACKUPS=""

    74     MASTER_INDEX=0

    75 

    76     while true; do

    77         DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}")

    78         BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}")

    79         if [ -z "${DEVICE}" ]; then break; fi

    80 

    81         if [ ${MASTER_INDEX} -gt 0 ]; then

    82             DEVICES=${DEVICES},

    83             BACKUPS=${BACKUPS},

    84         fi

    85 

    86         parse_mac_address ${DEVICE}

    87         DEVICES=${DEVICES}${MAC}

    88 

    89         parse_mac_address ${BACKUP}

    90         BACKUPS=${BACKUPS}${MAC}

    91 

    92         MASTER_INDEX=$(expr ${MASTER_INDEX} + 1)

    93     done

    94 

    95     # load master module

    96     if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \

    97             main_devices=${DEVICES} backup_devices=${BACKUPS}; then

    98         exit 1

    99     fi

   100 

   101     LOADED_MODULES=ec_master

   102 

   103     # check for modules to replace

   104     for MODULE in ${DEVICE_MODULES}; do

   105         ECMODULE=ec_${MODULE}

   106         if ! ${MODINFO} ${ECMODULE} > /dev/null; then

   107             continue # ec_* module not found

   108         fi

   109 

   110         if [ ${MODULE} != "generic" ]; then

   111             # try to unload standard module

   112             if lsmod | grep "^${MODULE} " > /dev/null; then

   113                 if ! ${RMMOD} ${MODULE}; then

   114                     ${RMMOD} ${LOADED_MODULES}

   115                     exit 1

   116                 fi

   117             fi

   118         fi

   119 

   120         if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then

   121             if [ ${MODULE} != "generic" ]; then

   122                 ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore

   123             fi

   124             ${RMMOD} ${LOADED_MODULES}

   125             exit 1

   126         fi

   127 

   128         LOADED_MODULES=${ECMODULE} ${LOADED_MODULES}

   129     done

   130 

   131     exit 0

   132     ;;

   133 

   134 #------------------------------------------------------------------------------

   135 

   136 stop)

   137     # unload EtherCAT device modules

   138     for MODULE in ${DEVICE_MODULES} master; do

   139         ECMODULE=ec_${MODULE}

   140         if ! lsmod | grep -q "^${ECMODULE} "; then

   141             continue # ec_* module not loaded

   142         fi

   143         if ! ${RMMOD} ${ECMODULE}; then

   144             exit 1

   145         fi;

   146     done

   147 

   148     sleep 1

   149 

   150     # load standard modules again

   151     for MODULE in ${DEVICE_MODULES}; do

   152         if [ ${MODULE} == "generic" ]; then

   153             continue

   154         fi

   155         ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}

   156     done

   157 

   158     exit 0

   159     ;;

   160 

   161 #------------------------------------------------------------------------------

   162 

   163 restart)

   164     $0 stop || exit 1

   165     sleep 1

   166     $0 start

   167     ;;

   168 

   169 #------------------------------------------------------------------------------

   170 

   171 status)

   172     echo "Checking for EtherCAT master @VERSION@ "

   173 

   174     # count masters in configuration file

   175     MASTER_COUNT=0

   176     while true; do

   177         DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}")

   178         if [ -z "${DEVICE}" ]; then break; fi

   179         MASTER_COUNT=$(expr ${MASTER_COUNT} + 1)

   180     done

   181 

   182     RESULT=0

   183 

   184     for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do

   185         echo -n "Master${i} "

   186 

   187         # Check if the master is in idle or operation phase

   188         ${ETHERCAT} master --master ${i} 2>/dev/null | \

   189             grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation'

   190         EXITCODE=$?

   191 

   192         if [ ${EXITCODE} -eq 0 ]; then

   193             echo " running"

   194         else

   195             echo " dead"

   196             RESULT=1

   197         fi

   198     done

   199 

   200     exit ${RESULT}

   201     ;;

   202 

   203 #------------------------------------------------------------------------------

   204 

   205 *)

   206     echo "USAGE: $0 {start|stop|restart|status}"

   207     exit 1

   208     ;;

   209 esac

   210 

   211 #------------------------------------------------------------------------------