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 # $Id$ |
|
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; either version 2 of the |
|
18 # License, or (at your option) any later version. |
|
19 # |
|
20 # The IgH EtherCAT Master is distributed in the hope that it will be |
|
21 # useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
22 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
23 # GNU General Public License for more details. |
|
24 # |
|
25 # You should have received a copy of the GNU General Public License |
|
26 # along with the IgH EtherCAT Master; if not, write to the Free Software |
|
27 # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
|
28 # |
|
29 # The right to use EtherCAT Technology is granted and comes free of |
|
30 # charge under condition of compatibility of product made by |
|
31 # Licensee. People intending to distribute/sell products based on the |
|
32 # code, have to sign an agreement to guarantee that products using |
|
33 # software based on IgH EtherCAT master stay compatible with the actual |
|
34 # EtherCAT specification (which are released themselves as an open |
|
35 # standard) as the (only) precondition to have the right to use EtherCAT |
|
36 # Technology, IP and trade marks. |
|
37 # |
|
38 #------------------------------------------------------------------------------ |
|
39 |
|
40 use strict; |
|
41 use Getopt::Std; |
|
42 |
|
43 my $master_index; |
|
44 my $master_dir; |
|
45 my $show_sii_naming; |
|
46 |
|
47 #------------------------------------------------------------------------------ |
|
48 |
|
49 &get_options; |
|
50 &query_master; |
|
51 exit 0; |
|
52 |
|
53 #------------------------------------------------------------------------------ |
|
54 |
|
55 sub query_master |
|
56 { |
|
57 $master_dir = "/sys/ethercat" . $master_index; |
|
58 &query_slaves; |
|
59 } |
|
60 |
|
61 #------------------------------------------------------------------------------ |
|
62 |
|
63 sub query_slaves |
|
64 { |
|
65 my $dirhandle; |
|
66 my $slave_dir; |
|
67 my $entry; |
|
68 my $slave_index; |
|
69 my $file_name; |
|
70 my $vendor_name; |
|
71 my @slaves; |
|
72 my $slave; |
|
73 my $abs; |
|
74 |
|
75 unless (opendir $dirhandle, $master_dir) { |
|
76 print "Failed to open directory \"$master_dir\".\n"; |
|
77 exit 1; |
|
78 } |
|
79 |
|
80 while ($entry = readdir $dirhandle) { |
|
81 next unless $entry =~ /^slave(\d+)$/; |
|
82 $slave_dir = $master_dir . "/" . $entry; |
|
83 |
|
84 $slave = {}; |
|
85 $slave->{'ring_position'} = |
|
86 &read_integer("$slave_dir/ring_position"); |
|
87 $slave->{'advanced_position'} = |
|
88 &read_string("$slave_dir/advanced_position"); |
|
89 unless ($show_sii_naming) { |
|
90 $slave->{'vendor_name'} = |
|
91 &read_string("$slave_dir/vendor_name"); |
|
92 $slave->{'product_name'} = |
|
93 &read_string("$slave_dir/product_name"); |
|
94 $slave->{'product_desc'} = |
|
95 &read_string("$slave_dir/product_desc"); |
|
96 } |
|
97 else { |
|
98 $slave->{'name'} = |
|
99 &read_string("$slave_dir/name"); |
|
100 } |
|
101 $slave->{'type'} = |
|
102 &read_string("$slave_dir/type"); |
|
103 |
|
104 push @slaves, $slave; |
|
105 } |
|
106 closedir $dirhandle; |
|
107 |
|
108 @slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves; |
|
109 |
|
110 print "EtherCAT bus listing for master $master_index:\n"; |
|
111 for $slave (@slaves) { |
|
112 if ($slave->{'type'} eq "coupler") { |
|
113 print "--------------------------------------------------------\n"; |
|
114 } |
|
115 |
|
116 $abs = sprintf "%i", $slave->{'ring_position'}; |
|
117 printf(" %3s %8s ", $abs, $slave->{'advanced_position'}); |
|
118 unless ($show_sii_naming) { |
|
119 printf("%-12s %-10s %s\n", $slave->{'vendor_name'}, |
|
120 $slave->{'product_name'}, $slave->{'product_desc'}); |
|
121 } |
|
122 else { |
|
123 printf("%s\n", $slave->{'name'}); |
|
124 } |
|
125 } |
|
126 } |
|
127 |
|
128 #------------------------------------------------------------------------------ |
|
129 |
|
130 sub read_string |
|
131 { |
|
132 (my $file_name) = @_; |
|
133 my $data; |
|
134 |
|
135 $data = `cat $file_name 2>/dev/null`; |
|
136 if ($?) { |
|
137 print "ERROR: Unable to read string $file_name!\n"; |
|
138 exit 1; |
|
139 } |
|
140 |
|
141 chomp $data; |
|
142 return $data; |
|
143 } |
|
144 |
|
145 #------------------------------------------------------------------------------ |
|
146 |
|
147 sub read_integer |
|
148 { |
|
149 (my $file_name) = @_; |
|
150 |
|
151 if (`cat $file_name 2>/dev/null` !~ /^(\d+)$/) { |
|
152 print "ERROR: Unable to read integer $file_name!\n"; |
|
153 exit 1; |
|
154 } |
|
155 |
|
156 return int $1; |
|
157 } |
|
158 |
|
159 #------------------------------------------------------------------------------ |
|
160 |
|
161 sub get_options |
|
162 { |
|
163 my %opt; |
|
164 my $optret; |
|
165 |
|
166 $optret = getopts "m:sh", \%opt; |
|
167 |
|
168 &print_usage if defined $opt{'h'} or $#ARGV > -1 or !$optret; |
|
169 |
|
170 if (defined $opt{'m'}) { |
|
171 $master_index = $opt{'m'}; |
|
172 } |
|
173 else { |
|
174 $master_index = 0; |
|
175 } |
|
176 |
|
177 $show_sii_naming = defined $opt{'s'}; |
|
178 } |
|
179 |
|
180 #------------------------------------------------------------------------------ |
|
181 |
|
182 sub print_usage |
|
183 { |
|
184 print "Usage: ec_list [OPTIONS]\n"; |
|
185 print " -m <IDX> Query master <IDX>.\n"; |
|
186 print " -s Show EEPROM name instead of"; |
|
187 print " vendor/product/description.\n"; |
|
188 print " -h Show this help.\n"; |
|
189 exit 0; |
|
190 } |
|
191 |
|
192 #------------------------------------------------------------------------------ |
|