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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: EtherCAT master @VERSION@ |
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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 ETHERCAT=@prefix@/bin/ethercat |
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56 |
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57 #------------------------------------------------------------------------------ |
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58 |
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59 ETHERCAT_CONFIG=/etc/sysconfig/ethercat |
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60 |
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61 if [ ! -r ${ETHERCAT_CONFIG} ]; then |
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62 echo ${ETHERCAT_CONFIG} not existing; |
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63 if [ "${1}" = "stop" ]; then |
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64 exit 0 |
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65 else |
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66 exit 6 |
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67 fi |
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68 fi |
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69 |
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70 . ${ETHERCAT_CONFIG} |
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71 |
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72 #------------------------------------------------------------------------------ |
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73 |
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74 function exit_success() |
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75 { |
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76 if [ -r /etc/rc.status ]; then |
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77 rc_reset |
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78 rc_status -v |
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79 rc_exit |
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80 else |
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81 echo " done" |
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82 exit 0 |
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83 fi |
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84 } |
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85 |
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86 #------------------------------------------------------------------------------ |
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87 |
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88 function exit_fail() |
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89 { |
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90 if [ -r /etc/rc.status ]; then |
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91 rc_failed |
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92 rc_status -v |
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93 rc_exit |
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94 else |
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95 echo " failed" |
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96 exit 1 |
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97 fi |
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98 } |
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99 |
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100 #------------------------------------------------------------------------------ |
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101 |
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102 function print_running() |
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103 { |
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104 if [ -r /etc/rc.status ]; then |
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105 rc_reset |
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106 rc_status -v |
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107 else |
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108 echo " running" |
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109 fi |
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110 } |
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111 |
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112 #------------------------------------------------------------------------------ |
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113 |
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114 function print_dead() |
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115 { |
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116 if [ -r /etc/rc.status ]; then |
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117 rc_failed |
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118 rc_status -v |
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119 else |
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120 echo " dead" |
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121 fi |
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122 } |
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123 |
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124 #------------------------------------------------------------------------------ |
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125 |
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126 function parse_mac_address() |
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127 { |
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128 if [ -z "${1}" ]; then |
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129 MAC="" |
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130 elif echo ${1} | grep -qE '^([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}$'; then |
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131 MAC=${1} |
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132 else |
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133 echo Invalid MAC address \"${1}\" in ${ETHERCAT_CONFIG} |
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134 exit_fail |
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135 fi |
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136 } |
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137 |
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138 #------------------------------------------------------------------------------ |
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139 |
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140 if [ -r /etc/rc.status ]; then |
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141 . /etc/rc.status |
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142 rc_reset |
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143 fi |
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144 |
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145 case "${1}" in |
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146 |
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147 start) |
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148 echo -n "Starting EtherCAT master @VERSION@" |
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149 |
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150 # construct DEVICES and BACKUPS from configuration variables |
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151 DEVICES="" |
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152 BACKUPS="" |
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153 MASTER_INDEX=0 |
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154 while true; do |
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155 DEVICE=$(eval echo "\${MASTER${MASTER_INDEX}_DEVICE}") |
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156 BACKUP=$(eval echo "\${MASTER${MASTER_INDEX}_BACKUP}") |
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157 if [ -z "${DEVICE}" ]; then break; fi |
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158 |
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159 if [ ${MASTER_INDEX} -gt 0 ]; then |
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160 DEVICES=${DEVICES}, |
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161 BACKUPS=${BACKUPS}, |
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162 fi |
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163 |
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164 parse_mac_address ${DEVICE} |
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165 DEVICES=${DEVICES}${MAC} |
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166 |
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167 parse_mac_address ${BACKUP} |
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168 BACKUPS=${BACKUPS}${MAC} |
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169 |
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170 MASTER_INDEX=$(expr ${MASTER_INDEX} + 1) |
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171 done |
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172 |
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173 # load master module |
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174 if ! ${MODPROBE} ${MODPROBE_FLAGS} ec_master \ |
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175 main_devices=${DEVICES} backup_devices=${BACKUPS}; then |
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176 exit_fail |
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177 fi |
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178 |
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179 # check for modules to replace |
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180 for MODULE in ${DEVICE_MODULES}; do |
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181 ECMODULE=ec_${MODULE} |
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182 if ! ${MODINFO} ${ECMODULE} > /dev/null; then |
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183 continue # ec_* module not found |
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184 fi |
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185 if lsmod | grep "^${MODULE} " > /dev/null; then |
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186 if ! ${RMMOD} ${MODULE}; then |
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187 exit_fail |
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188 fi |
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189 fi |
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190 if ! ${MODPROBE} ${MODPROBE_FLAGS} ${ECMODULE}; then |
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191 ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE} # try to restore module |
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192 exit_fail |
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193 fi |
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194 done |
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195 |
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196 exit_success |
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197 ;; |
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198 |
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199 stop) |
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200 echo -n "Shutting down EtherCAT master @VERSION@" |
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201 |
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202 # unload EtherCAT device modules |
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203 for MODULE in ${DEVICE_MODULES} master; do |
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204 ECMODULE=ec_${MODULE} |
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205 if ! lsmod | grep -q "^${ECMODULE} "; then |
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206 continue # ec_* module not loaded |
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207 fi |
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208 if ! ${RMMOD} ${ECMODULE}; then |
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209 exit_fail |
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210 fi; |
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211 done |
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212 |
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213 sleep 1 |
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214 |
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215 # reload previous modules |
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216 for MODULE in ${DEVICE_MODULES}; do |
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217 if ! ${MODPROBE} ${MODPROBE_FLAGS} ${MODULE}; then |
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218 echo Warning: Failed to restore ${MODULE}. |
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219 fi |
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220 done |
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221 |
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222 exit_success |
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223 ;; |
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224 |
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225 restart) |
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226 $0 stop || exit 1 |
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227 sleep 1 |
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228 $0 start |
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229 ;; |
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230 |
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231 status) |
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232 echo "Checking for EtherCAT master @VERSION@" |
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233 |
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234 # count masters in configuration file |
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235 MASTER_COUNT=0 |
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236 while true; do |
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237 DEVICE=$(eval echo "\${MASTER${MASTER_COUNT}_DEVICE}") |
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238 if [ -z "${DEVICE}" ]; then break; fi |
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239 MASTER_COUNT=$(expr ${MASTER_COUNT} + 1) |
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240 done |
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241 |
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242 RESULT=0 |
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243 |
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244 for i in `seq 0 $(expr ${MASTER_COUNT} - 1)`; do |
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245 echo -n "Master${i}" |
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246 |
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247 # Check if the master is in idle or operation phase |
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248 ${ETHERCAT} master --master ${i} 2>/dev/null | \ |
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249 grep -qE 'Phase:[[:space:]]*Idle|Phase:[[:space:]]*Operation' |
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250 EXITCODE=$? |
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251 |
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252 if [ ${EXITCODE} -eq 0 ]; then |
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253 print_running |
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254 else |
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255 print_dead |
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256 RESULT=1 |
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257 fi |
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258 done |
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259 |
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260 exit ${RESULT} |
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261 ;; |
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262 |
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263 *) |
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264 echo "USAGE: $0 {start|stop|restart|status}" |
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265 ;; |
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266 |
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267 esac |
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268 |
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269 if [ -r /etc/rc.status ]; then |
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270 rc_exit |
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271 else |
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272 exit 1 |
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273 fi |
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274 |
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275 #------------------------------------------------------------------------------ |