1 #!/bin/sh |
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2 |
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3 #------------------------------------------------------------------------------ |
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4 # |
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5 # Init script for EtherCAT |
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6 # |
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7 # $Id$ |
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8 # |
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9 # Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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10 # |
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11 # This file is part of the IgH EtherCAT Master. |
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12 # |
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13 # The IgH EtherCAT Master is free software; you can redistribute it |
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14 # and/or modify it under the terms of the GNU General Public License |
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15 # as published by the Free Software Foundation; either version 2 of the |
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16 # License, or (at your option) any later version. |
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17 # |
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18 # The IgH EtherCAT Master is distributed in the hope that it will be |
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19 # useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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20 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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21 # GNU General Public License for more details. |
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22 # |
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23 # You should have received a copy of the GNU General Public License |
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24 # along with the IgH EtherCAT Master; if not, write to the Free Software |
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25 # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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26 # |
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27 # The right to use EtherCAT Technology is granted and comes free of |
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28 # charge under condition of compatibility of product made by |
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29 # Licensee. People intending to distribute/sell products based on the |
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30 # code, have to sign an agreement to guarantee that products using |
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31 # software based on IgH EtherCAT master stay compatible with the actual |
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32 # EtherCAT specification (which are released themselves as an open |
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33 # standard) as the (only) precondition to have the right to use EtherCAT |
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34 # Technology, IP and trade marks. |
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35 # |
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36 #------------------------------------------------------------------------------ |
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37 |
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38 ### BEGIN INIT INFO |
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39 # Provides: ethercat |
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40 # Required-Start: $local_fs $syslog $network |
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41 # Should-Start: $time ntp |
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42 # Required-Stop: $local_fs $syslog $network |
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43 # Should-Stop: $time ntp |
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44 # Default-Start: 3 5 |
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45 # Default-Stop: 0 1 2 6 |
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46 # Short-Description: EtherCAT Master |
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47 # Description: |
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48 ### END INIT INFO |
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49 |
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50 #------------------------------------------------------------------------------ |
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51 |
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52 MODPROBE=/sbin/modprobe |
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53 RMMOD=/sbin/rmmod |
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54 MODINFO=/sbin/modinfo |
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55 |
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56 #------------------------------------------------------------------------------ |
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57 |
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58 ETHERCAT_CONFIG=/etc/sysconfig/ethercat |
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59 |
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60 if [ ! -r ${ETHERCAT_CONFIG} ]; then |
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61 echo ${ETHERCAT_CONFIG} not existing; |
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62 if [ "${1}" = "stop" ]; then |
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63 exit 0 |
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64 else |
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65 exit 6 |
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66 fi |
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67 fi |
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68 |
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69 . ${ETHERCAT_CONFIG} |
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70 |
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71 #------------------------------------------------------------------------------ |
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72 |
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73 function exit_success() |
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74 { |
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75 if [ -r /etc/rc.status ]; then |
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76 rc_reset |
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77 rc_status -v |
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78 rc_exit |
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79 else |
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80 echo " done" |
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81 exit 0 |
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82 fi |
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83 } |
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84 |
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85 #------------------------------------------------------------------------------ |
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86 |
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87 function exit_running() |
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88 { |
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89 if [ -r /etc/rc.status ]; then |
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90 rc_reset |
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91 rc_status -v |
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92 rc_exit |
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93 else |
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94 echo " running" |
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95 exit 0 |
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96 fi |
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97 } |
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98 |
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99 #------------------------------------------------------------------------------ |
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100 |
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101 function exit_fail() |
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102 { |
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103 if [ -r /etc/rc.status ]; then |
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104 rc_failed |
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105 rc_status -v |
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106 rc_exit |
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107 else |
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108 echo " failed" |
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109 exit 1 |
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110 fi |
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111 } |
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112 |
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113 #------------------------------------------------------------------------------ |
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114 |
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115 function exit_dead() |
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116 { |
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117 if [ -r /etc/rc.status ]; then |
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118 rc_failed |
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119 rc_status -v |
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120 rc_exit |
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121 else |
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122 echo " dead" |
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123 exit 1 |
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124 fi |
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125 } |
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126 |
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127 #------------------------------------------------------------------------------ |
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128 |
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129 function parse_mac_address() |
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130 { |
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131 if [ -z "${1}" ]; then |
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132 MAC="" |
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133 elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then |
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134 MAC=${1} |
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135 else |
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136 echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG} |
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137 exit_fail |
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138 fi |
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139 } |
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140 |
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141 #------------------------------------------------------------------------------ |
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142 |
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143 if [ -r /etc/rc.status ]; then |
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144 . /etc/rc.status |
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145 rc_reset |
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146 fi |
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147 |
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148 case "${1}" in |
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149 |
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150 start) |
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151 echo -n "Starting EtherCAT master " |
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152 |
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153 # construct DEVICES and BACKUPS from configuration variables |
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154 DEVICES="" |
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155 BACKUPS="" |
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156 MASTER_INDEX=0 |
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157 while true; do |
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158 DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}") |
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159 BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}") |
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160 if [ -z "${DEVICE}" ]; then break; fi |
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161 |
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162 if [ ${MASTER_INDEX} -gt 0 ]; then |
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163 DEVICES=${DEVICES}, |
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164 BACKUPS=${BACKUPS}, |
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165 fi |
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166 |
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167 parse_mac_address ${DEVICE} |
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168 DEVICES=${DEVICES}${MAC} |
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169 |
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170 parse_mac_address ${BACKUP} |
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171 BACKUPS=${BACKUPS}${MAC} |
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172 |
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173 MASTER_INDEX=$(expr ${MASTER_INDEX} + 1) |
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174 done |
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175 |
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176 # load master module |
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177 if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \ |
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178 main_devices=${DEVICES} backup_devices=${BACKUPS}; then |
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179 exit_fail |
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180 fi |
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181 |
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182 # check for modules to replace |
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183 for MODULE in ${DEVICE_MODULES}; do |
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184 ECMODULE=ec_${MODULE} |
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185 if ! ${MODINFO} ${ECMODULE} > /dev/null; then |
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186 continue # ec_* module not found |
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187 fi |
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188 if lsmod | grep "^${MODULE} " > /dev/null; then |
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189 if ! ${RMMOD} ${MODULE}; then |
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190 exit_fail |
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191 fi |
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192 fi |
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193 if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then |
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194 ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore module |
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195 exit_fail |
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196 fi |
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197 done |
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198 |
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199 exit_success |
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200 ;; |
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201 |
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202 stop) |
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203 echo -n "Shutting down EtherCAT master " |
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204 |
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205 # unload EtherCAT device modules |
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206 for MODULE in ${DEVICE_MODULES} master; do |
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207 ECMODULE=ec_${MODULE} |
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208 if ! lsmod | grep -q "^${ECMODULE} "; then |
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209 continue # ec_* module not loaded |
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210 fi |
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211 if ! ${RMMOD} ${ECMODULE}; then |
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212 exit_fail |
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213 fi; |
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214 done |
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215 |
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216 sleep 1 |
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217 |
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218 # reload previous modules |
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219 for MODULE in ${DEVICE_MODULES}; do |
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220 if ! ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}; then |
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221 echo Warning: Failed to restore ${MODULE}. |
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222 fi |
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223 done |
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224 |
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225 exit_success |
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226 ;; |
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227 |
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228 restart) |
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229 $0 stop || exit 1 |
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230 sleep 1 |
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231 $0 start |
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232 ;; |
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233 |
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234 status) |
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235 echo -n "Checking for EtherCAT " |
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236 |
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237 lsmod | grep -q "^ec_master " |
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238 MASTERS_RUNNING=$? |
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239 |
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240 ! grep -q "(WAITING)" /sys/ethercat/master*/info |
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241 MASTERS_IDLE=$? |
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242 |
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243 # master module loaded and masters not waiting for devices? |
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244 if [ ${MASTERS_RUNNING} -eq 0 -a ${MASTERS_IDLE} -eq 0 ]; then |
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245 exit_running |
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246 else |
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247 exit_dead |
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248 fi |
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249 ;; |
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250 |
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251 *) |
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252 echo "USAGE: $0 {start|stop|restart|status}" |
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253 ;; |
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254 |
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255 esac |
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256 |
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257 if [ -r /etc/rc.status ]; then |
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258 rc_exit |
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259 else |
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260 exit 1 |
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261 fi |
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262 |
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263 #------------------------------------------------------------------------------ |
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